组合导航定位系统研究

he boom-type roadheader is one of the important machine equipment of colliery production. In order to make it more safety and high efficiency and to meet the development trend of artificialization and intelligent, we designed a navigation and orientation system based on inertial navigation system and electronic total station.In this paper, boom-type roadheader simplified into two crawlers to establish the mathematical model.This paper analyzed boom-type roadheader's navigation and orientation technology based on inertial navigation system and electronic total station respectively,combined inertial navigation system and electronic total station considering their advantages,introduced a tunnel guide system composed of inertial navigation system and electronic total station, and explained its application to boom-type roadheader.