Error analysis of autonomous calibration strategy based on roadheader attitude measurement system

In terms of the problems associated with the high precision automatic measurement of attitude and posture parameters of roadheader in narrow heading tunnel,the pose measurement system was firstly introduced systematically, and then the automatic calibration of high precision automatic total station was studied. According to the principle of laser measurement and the characteristics of boring machine,a mathematical adjustment model of total station coordi- nate and positioning prism coordinate measurement error was developed. The influence of different calibration distances and different measurement distances on the measurement error of pose parameters of cantilever roadheader was simula- ted by Matlab. The analysis results show that the error of heading direction is relatively large,and the error of attitude angle increases with the increase of measuring distance and calibration distance,and the influence of measuring dis- tance on attitude angle error is more obvious;the maximum measurement error of the attitude angles of boom-type road- header is the value of course angle,the measurement error is 0. 015 7°. The feasibility of autonomous calibration of la- ser guided system was verified,and a relatively optimal autonomic calibration strategy was proposed,which fully satis- fies the requirement accuracy of the attitude and position of roadheader in the current production of coal mine.