High-Precision Positioning Method of Coal Shearer in the Underground Environment Based on Rail Kinematics Model

Xu, Xiaowei; Lai, Jizhou; Lyu, Pin; Lu, Jian; Bai, Shiyu; Hu, Huafeng

doi:10.1109/access.2021.3125501

Cited by 4 publications

(1 citation statement)

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“…In ( 23 NHC velocity model is established, and this study adopts the constraint of the vehicle's lateral velocity being zero [15], [16]. The difference between the INS forwardcalculated velocity and the odometry (OD) forwardcalculated velocity is used as the second observation [17], [18], [19], while the difference between the gyroscope's yaw rate and the differential odometry-calculated yaw rate is employed as the third observation. The system measurement equation is formulated as follows:…”

Section: B System State Equations and Observation Equationsmentioning

confidence: 99%

Combined Localization Method for Multimodal Wheel-Track Robots in Sheltered Space

Lin,

Su,

Zhao

et al. 2024

IEEE Access

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In response to the localization challenges posed by multi-modal motion mode transitions during the locomotion of tracked-wheel robots in sheltered spaces, this paper presents a combination localization method based on Inertial Navigation System/Odometry (INS/OD). Leveraging the unique locomotion structure of tracked-wheel robots, a multi-modal odometry motion model and non-holonomic constrained (NHC) velocity model are established. A closed-loop extended Kalman filter is employed to construct the combination localization model, facilitating real-time computation and correction of the robot's heading angle using the odometry motion model, effectively mitigating system errors and preventing heading divergence. Practical localization tests were conducted on tracked-wheel robots to assess the performance of the proposed method. The results demonstrate that the combination localization method achieves position errors within 0.3578 meters, representing only 0.31% of the total travel distance, with an average error of 0.1611 meters, thus satisfying the practical localization requirements of tracked-wheel robots.INDEX TERMS sheltered spaces, NHC, multi-modal motion, tracked-wheel robots, INS/OD (Inertial Navigation System/Odometry).

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