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Research on Refined 3D Attitude Model of smart construction machinery Based on Multi-Sensor Fusion

Research on Refined 3D Attitude Model of Smart Construction ...

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第九届中国卫星导航学术年会

作者： Yanning Zheng Shengli Wang Yang Liu Ying Xu Xu Li Guiping Chen College of Geomatics Shandong University of Science and Technology College of Geomatics Anhui University of Science and Technology College of Transportation Shandong University of Science and Technology

With rapid development of technologies such as sensors and AI,smart construction machinery has gradually become research focus of construction machinery domain in recent years due to its high precision,low labor cost and high *** location-based services to be one of the important foundation of smart construction machinery,the design of a rigorous and convenient positioning and attitude determination algorithm has become an important foundation for the stable and agile operation of smart construction *** paper combined back-hoe hydraulic excavator with GNSS positioning & orientation device and MEMS inclinometers,derived and verified a rigorous position and attitude calculation model of excavator upper structure and each part of working equipment according to the outputs of the two kinds of ***,specialized algorithm to form attitude rotation matrix is deduced considering the effect characteristics of upper structure attitude on GNSS orientation baseline and output axis definition of dual-axis inclinometer,and with the GNSS antenna coordinate in topocentric coordinate system,the upper structure coordinate and attitude are ***,coordinate increment computation algorithm of key point on excavator working equipment in vehicle coordinate system considering upper structure attitude effect was ***,by combining key point coordinate increment and upper structure coordinate and attitude,key point absolute coordinate was *** correctness of this algorithm was verified by installation and test on real vehicle and comparison with result measured by RTK/total *** rigorous derivation process,concise form and convenience of programming implementation,this algorithm has practical meaning in engineering.

关键词： smart construction machinery back-hoe hydraulic excavator multi-sensor fusion

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