Vision and Inertial Navigation Combined-Based Pose Measurement Method of Cantilever Roadheader

Pose measurement of coal mine excavation equipment is an important part roadway excavation. However, in the underground mining mine, there are some influencing factors such as low illumination, high dust and interference from multiple equipment, which lead to difficulty position pose roadheader with accuracy poor stability. A combination positioning method based on machine vision optical fiber inertial navigation proposed realize improve stability measurement. The visual model arm established, technology spatial coordinate transformation used. Finally, Kalman filter fusion algorithm used fuse two kinds data get accurate data, inertia compensated corrected. Underground experiments designed verify performance method. results show that error body using this within 40 mm, meets requirements construction. This compensates for shortcomings reliability single measurement, odometer