The Application of Inertial Navigation System/Total Station Combined Measurement Technology in Mine Shield System
YUE Yajun
PENG Jun
ZHANG Tao
JIA Zhaoyang
Abstract：Due to the large amount of dust,high humidity,and multiple equipment involved in shield tunneling construction in coal mines,the optical path was obstructed,which affects the measurement accuracy and reliability of the total station guidance.The inertial navigation system is relatively less affected by the environment and can continuously provide the attitude angle of the equipment.Combined with the excavation stroke,it can calculate the spatial coordinates and deviation values of the equipment in real time.However,over time,its own drift leads to a large cumulative error.A method for autonomous positioning and orientation of shield tunneling system based on the combination of inertial navigation and total station was proposed based on the above issues.By analyzing the principle and characteristics of the combination of inertial navigation and total station positioning and guidance,a combined positioning and orientation model was established.Combined with the advancing mileage during the excavation process,the position parameters measured by the total station and the pose measured by the inertial navigation were used to calculate the pose coordinates of the inertial navigation for real-time substitution,and the fusion information of the autonomous positioning and orientation of the shield machine was obtained.
Keywords：total stationinertial navigationexcavation strokeautonomous positioningfusion information
Publication Date：2025-08-30
Online Publishing Date：2025-09-23(First online date of this platform, not the publication date of the document)
Pages：4( 34-37 )