Pose detection method based on hybrid algorithm of TSOA positioning principle for roadheader

In order to realize the pose detection of the roadheader,a pose detection method for the hybrid algorithm was proposed. According to the positioning principle of Time Summation of Arrival (TSOA),the calculation process of the hybrid algorithm was systematically derived. The initial coordinates of the positioning point obtained by the indirect method were brought into the Taylor series expansion,loop iteration,the coordinate values of the roadheader were ob- tained by the hybrid algorithm. Taking the coordinate value into the attitude angle solution formula,the attitude angle of the roadheader was obtained. The actual measurement required the calibration of other measurement methods to veri- fy the true value. Any measurement method had errors,so the simulation analysis was carried out in MATLAB. The flow chart of the hybrid algorithm program was drawn. The simulation compared the spatial distribution and triaxial error of both indirect and hybrid algorithms at 15 m and 90 m. It compared the RMSE error of the positioning point and the three-axis RMSE error of the two algorithms in 10-100 m. The attitude angle accuracy of the hybrid algorithm was analyzed at 15 m and 90 m. The results show that the positioning performance of the hybrid algorithm is better than the indirect method. Hybrid algorithm is more accurate than indirect method. The attitude angle error can be controlled be- low 0. 008°. The experimental platform of the roadheader pose detection system was built. Experiments were carried out in the simulated roadway,and the relevant data of ultra-wideband ranging was collected completely. The curve of error with distance was plotted by curve fitting in MATLAB. The law of error with measurement distance was obtained. The experiment results show that the X-axis error can be controlled within 4 cm and the Y-axis error can reach millimeter, Z-axis error increases as the measured distance increases within 3-94 m. This method provides a basis for the realiza- tion of the position detection of roadheader.