Ultra-wideband pose detection method based on TDOA positioning model for boom-type roadheader

Abstract

In deep and dangerous coal seam tunnelling, the autonomous navigation control system (ANCS) of the boom-type roadheader is the core that realises unattended work. The remote pose detection of the boom-type roadheader is the key task of the ANCS. In this study, an ultra-wide band (UWB) pose detection system (UPDS) for boom-type roadheaders is designed which realises the remote measurement of position and attitude parameters (heading, roll, and pitch angles) of the boom-type roadheader in a narrow and long enclosed roadway space. Based on the time difference-of-arrival (TDOA) positioning model, three UPDS positioning algorithms are proposed: Indirect positioning algorithm (IPA-D), Taylor series expansion algorithm (Taylor-D), and Chan positioning algorithm (Chan-D). A complete calculation process is deduced from the three UDPS positioning algorithms. Their accuracies are analysed based on the measured data of a P440 UWB ranging module in a narrow and long roadway. The positioning accuracy of IPA-D behaves better than those of Taylor-D and Chan-D: Within 95 m of the roadway, IPA-D can achieve values at a centimetre scale and the positioning error increases with increasing measurement distance. The calculated UPDS attitude angle error based on IPA-D increases with increasing measurement distance of up to 95 m; The roll angle error is approximately 0.05°, and the pitch and heading angles are approximately 0.15°. The presented UPDS meets the accuracy requirements for the pose detection of boom-type roadheaders in a fully mechanised excavation face and provides a reliable theoretical basis for ANCSs of boom-type roadheaders.