TBM-MSE: A Multi-Engine State Estimation Based on Inertial Enhancement for Tunnel Boring Machines in Perceptually Degraded Roadways

Autonomous localization and operation of tunnel boring machines in perceptually degraded roadways is essential for intelligent upgrading tunneling. Tunneling robots are far less than anticipated owing to the darkness, dust, vibration, geometrically roadways. We presented a multi-engine state estimation method mapping localizing (TBM-MSE). TBM-MSE designed novel inertial enhancement model that maintains global consistent posture violent vibrations. constructed lever arm error compensation terms total station component improve accuracy position constraints. Meanwhile, framework adaptively adjusts weight multiple sensors dusty environments. was tested on dust-free The results demonstrate more suitable LINS RRR-MF. meets actual excavation requirements. In addition, ablation experiments further confirm effectiveness handling