Application of SINS/DGPS integrated navigation technology in unmanned mining vehicles

2019 2nd International Conference on Advanced Materials, Intelligent Manufacturing and Automation

Cheng, Xiaozhou^1

Sinosteel Maanshan Institute of Mining Research CO. LTD., China University of Mining and Technology, Xuzhou

221000, China^1

关键词: Combination modes;    Combined navigation;    Continuous development;    Integrated navigation;    Integrated navigation systems;    Measurement residual;    Observation equation;    Working mechanisms;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/569/4/042001/pdf
DOI  :  10.1088/1757-899X/569/4/042001

来源: IOP

【 摘 要 】

The continuous development of driverless technology has provided more possibilities for the expansion of unmanned operation. In this paper, the SINS/DGPS integrated navigation system is used in the unmanned mining vehicle, and its combination mode and working mechanism are expounded. The equations and observation equations of the combined navigation filter system are derived. The measurement residual error checking algorithm is designed to eliminate DGPS Gross error. At the end of the paper, the correctness of the combined system is verified on the simulation platform, and the robustness is better.