The present disclosure discloses a method for positioning an auxiliary transportation vehicle in a coal mine and a positioning system thereof. The method comprises: acquiring a rotation velocity of each wheels and a rotation angle of a steering wheel, constructing a kinematics model based on wheels not for steering of the vehicle and a kinematics model based on wheels for steering of the vehicle respectively, and constructing a kinematics model based on a geometric center of the vehicle according to the above two kinematics models; and according to a travelling condition of the vehicle, integrating the kinematics model based on the geometric center with a strap-down inertial navigation system for positioning, when the vehicle is in a normal travelling state; and integrating, the kinematics model based on the wheels not for steering with the strap-down inertial navigation system for positioning, when the vehicle is in an abnormal travelling state.


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    Title :

    METHOD FOR POSITIONING AUXILIARY TRANSPORTATION VEHICLE IN COAL MINE AND POSITIONING SYSTEM THEREOF


    Contributors:
    JIANG FAN (author) / ZHU ZHENCAI (author) / HUANG XINGTAO (author) / ZHOU GONGBO (author) / LIU NIANSHENG (author) / WANG LIBING (author) / ZHANG CHUANSHENG (author) / PENG YUXING (author) / SHEN GANG (author) / ZHANG CHAOFAN (author)

    Publication date :

    2024-09-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC



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