Pose Measurement Technology of Roadheader Body based on Fusion of Visual and SINS*

In order to solve the problem of pose measurement of roadheader body in low illumination and high dust environment in coal mine, a pose measurement technology of roadheader body based on visual and strapdown inertial navigation system (SINS) is proposed. By extracting the point and line features and using the monocular vision positioning principle based on the gate three lines, the spatial pose of the roadheader body measured by vision is obtained according to the spatial matrix transformation. At the same time, the spatial pose of the roadheader body measured by SINS is calculated by gyroscope and accelerometer. Then the least square method is used to align the two-sensor data, and the registration data is fused based on the extended Kalman filter fusion algorithm to obtain the final fusion roadheader pose data. The experimental results show that the measurement error of the roadheader body position in the x axis direction of the roadway coordinate system is less than ± 20 mm, the error of the y axis direction is less than ±35 mm, the error of the z axis direction is less than ± 10 mm, the yaw angle error is between-0.4° to 0.7°, the roll angle error is between -0.2° and 0.6°, and the pitch angle error is between -0.02° and 0.5°. This method can be used to measure the pose of the roadheader stably and accurately in the complex environment of high dust, miscellaneous light and low illumination.