SYSTEM AND METHOD OF INITIAL EXPOSURE BY OPTICAL FLOW METHOD FOR STRAPDOWN INERTIAL NAVIGATION OF COAL MINING MACHINE Russian patent published in 2020 - IPC G01C25/00 

FIELD: optics.

SUBSTANCE: present invention relates to a system and method of initial display of platform-free inertial navigation of coal mining machine by optical flow method. System includes explosion-proof box, strap-free inertial navigation system, processor, fixed support and video camera. Explosion-proof box is rigidly mounted on combine body, strapdown inertial navigation system and processor are installed inside explosion-proof box. Video camera is fixed on hydraulic support on one side of coal mining machine by means of fixed support, and during shooting video camera is directed towards combine. Video camera records coal-mining machine movement pattern, and in combination with optical flow technology, direction of movement and actual speed relative to coal mining machine ground are obtained. Equation of specific force of inertial navigation is used to derive equation of multivector orientation determination. At the end with the help of the Wahba optimum matrix the matrix of the initial position of the strap-free inertial navigation system can be solved, and thus the initial exhibition of the strap-down inertial navigation system is realized.

EFFECT: present invention achieves accurate initial exhibition of movable base of strap-down inertial navigation system with assistance of external speed factor and does not require coarse levelling.

7 cl, 4 dwg