Method for positioning auxiliary transportation vehicle in coal mine and positioning system thereof
US12195063B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Sep 30, 2022 |
| Grant date | Jan 14, 2025 |
| Priority date | — |
| Expiry date | Sep 30, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D2111/54
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
The present disclosure discloses a method for positioning an auxiliary transportation vehicle in a coal mine and a positioning system thereof. The method comprises: acquiring a rotation velocity of each wheels and a rotation angle of a steering wheel, constructing a kinematics model based on wheels not for steering of the vehicle and a kinematics model based on wheels for steering of the vehicle respectively, and constructing a kinematics model based on a geometric center of the vehicle according to the above two kinematics models; and according to a travelling condition of the vehicle, integrating the kinematics model based on the geometric center with a strap-down inertial navigation system for positioning, when the vehicle is in a normal travelling state; and integrating, the kinematics model based on the wheels not for steering with the strap-down inertial navigation system for positioning, when the vehicle is in an abnormal travelling state.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.