Abstract:

By analysis of GNSS high precision locating，working principle of the angle sensor and study of the motions of hydraulic excavator working device，use of GNSS antenna installation at the tail of excavator，angle sensor on cab top，boom and bucket rod，GNSS high precision positioning，vehicle body attitude determination，kinematics problem solving techniques and algorithms were written to the program，precise localization of the excavator and work device posture monitoring were completed.System based on excavator real-time accurate and reliable positioning and attitude control，combined with the digitization of geological and geographic information，and mining guidance is realized，including target position，position of bucket，orebody information below bucket the current position，stope boundary.The test results indicate the monitoring accuracy of the excavator is high，and the mining guidance system based on the posture monitoring of the excavator has a broad application prospect.

Key words: hydraulic excavator, GNSS precise positioning, angle sensor, posture monitoring, mining guidance