China University of Mining and Technology

Xuzhou Kerui Mining Technology Co., Ltd

Zhengxu Wang

Zhencai Zhu

Gongbo Zhou

Yuxing Peng

Gang Shen

Fan Jiang

Chuansheng Zhang

Niansheng Liu

Libing Wang

Chaofan Zhang

Shuman Cheng

Xingtao Huang

Wenwen Yi

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.

Method for positioning auxiliary transportation vehicle in coal mine and positioning system thereof

Growing community of inventors

Jiangsu, China

Zhengxu Wang