Ultra-wideband pose collaborative detection method of roadheader

In order to meet the requirements of safety and high efficiency production for the operation of roadheader,a method of UWB pose collaborative detection was proposed. Based on TDOA ( time difference of arrival) positioning principle and P440 module’ s ranging information,the positioning model was established using the cooperative algo-rithm to obtain the final estimate coordinates of the fuselage positioning point. This paper compared the positioning point simulation distribution of Chan algorithm and collaborative algorithm,then analysed the three axis positioning ac-curacy of the cooperative algorithm and obtained the law of variation in the way of establishing the spatial full-section error field. To obtain the pose angles,the author carried out layout design for the positioning point. The results show that the Y-axis positioning error of the cooperative algorithm can basically stay at 2 mm,while the X-axis and Z-axis are linearly increased from 0. 4 to 4 cm within 90 m. In the X-Y section of the roadway,the positioning error increases linearly and in the X - Z section of the roadway,the randomness of positioning error increases with the increase of measurement distance. The error of the pose angles is linearly increased from 0. 2 to 1. 5 degrees,which satisfies the requirement of the pose detection accuracy of roadheader.