PDF
Full
Outline
Aiming at the multi-source noise of inertial navigation in the attitude estimation of coal mine bolting jumbo，a noise reduction method of inertial navigation heterogeneous signal is proposed based on noise sensitive prior and improved variational mode decomposition（VMD），which avoids the over-decomposition and under-decomposition problems caused by the parameter fixation. Firstly，the noise sensitivity difference of the heterogeneous signals （acceleration and angular velocity） of coal mine bolting jumbo is investigated by using the variation of the signal characteristics in the time and frequency domains. Secondly，according to the noise-sensitive characteristics，the dual decomposition layer and energy fluctuation model are constructed，so that the decomposition parameters have the ability of adaptive optimization and the synchronous optimal decomposition of the inertial-guide heterogeneous signals is realized. Based on the Pearson correlation coefficient （PCC），the modal component screening parameter，correlation coefficient P，is designed to consider the noise sensitivity difference，to achieve screening practical modal components and simultaneous noise reduction of heterogeneous signals. Finally，the proposed method is compared with the noise reduction results of complementary ensemble empirical mode decomposition （CEEMD） and improved complete ensemble empirical mode decomposition with adaptive noise （ICEEMDAN）. The results show that the method proposed in this paper considers the noise sensitivity differences of heterogeneous signals，thereby improving the signal-to-noise ratio of inertial measurement and enhancing the attitude initialization accuracy of bolting jumbo. The pitch error is reduced by 81.818 %，and the yaw error is reduced by 87.958 %，which lays a good foundation for accurate roadway support.
PDF
98
47
| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
关闭全屏
No. 86 Xueyuan South Road, Haidian District, Beijing
010-62199257
qkjq@cast.org.cn
Copyright © 2025 China Association for Science and Technology. All rights reserved. For all open access content, the relevant licensing terms apply.
Sponsored by the Office of the Leading Group for Cybersecurity and Informatization of CAST, and supported by Science and Technology Review Publishing House
