Measurement Method of Navigation System of Self-propelled Underground Tunneling Robots

According to defects of self-propelled robot's measurement device, such as relying manual operation only, unreal-time and uncontinuous measurement, a new device for posture measurement of tunneling robots was designed based on three-point method. The device mainly used laser transmitters and receivers. Through the forward intersection principle it can get the coordinate of the receiver, then compute the tunneling robot posture. The architecture of the device, hardware design and analysis of measurement errors were introduced. To reduce errors, Kalman filtering method was proposed to predict the coordinate of the receivers. Simulation results show that the new device improves the real-time performance of the system and the data processing can reduce random noise and measurement noise of the system.