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A Real-Time Autonomous Calibration Method for an Attitude Laser Measurement System for the Roadheader

  • Research Article-Mechanical Engineering
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Abstract

A laser total station (LTS) is an environmentally stable position and attitude measurement device that has significant potential for identifying the position and attitude of the roadheader in real-time under severe working conditions. A fast and accurate calibration method of the LTS after the station movement is required for the roadheader attitude auto measurement in real-time. Based on the measurement principle of the laser measurement system, we analyze the mathematical model of the auto-calibration coordinate calculation; then, we establish a calibration error evaluation method for the auto-calibration system. To solve the real-time calibration of the LTS’s coordinates, we present an extended Kalman filter algorithm based on the real-time observations and estimations of the coordinates and position. The presented algorithm is verified by a Matlab simulation and a roadheader calibration experiment.

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Funding

This research was funded by National Science Foundation of China (5210041604, 51874308),Chinese Postdoctoral Science Foundation (2021M691967), Natural Science Foundation of Shandong Province, China (ZR202103010529), and Tiandi Science and Technology Co., Ltd., Surface fund Project (2014CB046306 and 2020-TD-MS006).

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Authors and Affiliations

  1. College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao, 266590, China

    Fuyan Lyu & Chunzhi Li

  2. School of Mechanical Electronic and Information Engineering, China University of Mining and Technology (Beijing), Beijing, 100083, China

    Xiao-dong Ji, Minjun Zhang, Yuanyuan Qu & Miao Wu

  3. Tiandi Science and Technology Co. Ltd, Beijing, 100013, China

    Xu Li

  4. Storage and Loading Branch, China Coal Research Institute, Beijing, 100013, China

    Xu Li

Authors
  1. Xiao-dong Ji
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  2. Fuyan Lyu
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  3. Chunzhi Li
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  4. Minjun Zhang
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  5. Yuanyuan Qu
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  6. Xu Li
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  7. Miao Wu
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Correspondence to Fuyan Lyu.

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Ji, Xd., Lyu, F., Li, C. et al. A Real-Time Autonomous Calibration Method for an Attitude Laser Measurement System for the Roadheader. Arab J Sci Eng 47, 15551–15558 (2022). https://doi.org/10.1007/s13369-022-06671-2

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  • DOI: https://doi.org/10.1007/s13369-022-06671-2

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