【摘要】 为了实现凿岩台车在隧道施工过程中的车体定位，设计了一套基于二轴水平传感器与云台的车体定位方法。通过水平传感器与测量云台周边的基准点和云台的相对位置关系，计算出台车在大地坐标系下的姿态，最后将大地坐标系下的孔洞位置和姿态，转化为台车坐标系下的位置和姿态。更多还原

【Abstract】 To achieve body positioning of the drilling jumbo during tunnel construction,a body positioning method based on a two-ax is level sensor and a tripod head is designed.Through the level sensor and measuring the relative position relationship between the reference points around the tripod head and the tripod head,the posture of the drilling jumbo in the geodetic coordinate system is calculated,and finally,the hole position and posture in the geodetic coordinate system are converted into the position and posture in the drilling jumbo coordinate system.更多还原