Vision navigation algorithm for mine agent based on quaternion

LI Ke-zhao^{1, 4}, LEI Wei-wei^{1, 2}, GUO Zeng-zhang^{1, 2}, WU Li-xin³, ZHANG Qin⁴

(1. School of Survey and Land Information Engineering, Henan Polytechnic University, Jiaozuo 454003, China;
2. Key Laboratory of Mine Spatial Information Technologies of State Bureau of Surveying and Mapping,
Henan Polytechnic University, Jiaozuo 454003, China;
3. College of Resources and Civil Engineering, Northeastern University, Shenyang 110819, China;
4. College of Geology Engineering and Geomatics, Chang’an University, Xi’an 710054, China)

Abstract:Autonomous relative navigation is the key technology in mining or rescuing. On the basis of mine requirement and the theories of machine vision, an autonomous relative navigation algorithm for mine agent based on quaternion was proposed. In rotation transformation, this algorithm was represented by using quaternion. Because the Jacobi matrix of this method is lower than that of Hall algorithm, the calculation efficiency is improved by using this algorithm. The results of these experiments show that the computation burden of this algorithm based on quaternion is about half that of Hall algorithm. This algorithm based on quaternion is improved as a valid way to solve the problem of mine real-time navigation.

Key words:quaternion; mine agent; vision navigation