Error Compensation of Strapdown Inertial Navigation System for the Boom-Type Roadheader under Complex Vibration

Abstract

The strapdown inertial navigation system can provide the navigation information for the boom-type roadheader in the unmanned roadway tunneling working face of the coal mine. However, the complex vibration caused by the cutting process of the boom-type roadheader may result in significant errors of its attitude and position measured by the strapdown inertial navigation system. Thus, an error compensation method based on the vibration characteristics of the roadheader is proposed in this paper. In order to further analyze the angular and linear vibration of the fuselage, as the main vibration sources of the roadheader, the dynamic model of the roadheader is formulated based on the cutting load. Following that, multiple sub-samples compensation algorithms for the coning and sculling errors are constructed. Simulation experiments were carried out under different subsample compensation algorithms, different coal and rock characteristics, and different types of roadheader. The experimental results show that the proposed error compensation algorithm can eliminate the effect of the angular and linear vibration on the measurement accuracy. The coning and sculling error of the strapdown inertial navigation system can reduce at least 52.21% and 42.89%, respectively. Finally, a strapdown inertial navigation error compensation accuracy experiment system is built, and the validity and superiority of the method proposed in this paper are verified through calculation and analysis of the data collected on the actual tunneling work face.

A Roadheader Positioning Method Based on Multi-Sensor Fusion

“…Tian [17] proposed an inertial navigation positioning method for a roadheader based on zero velocity correction, which can correct the measurement error. Shen [18] established a roadheader dynamics model based on cutting loads, and then proposed an error compensation method based on the vibration characteristics of the roadheader to reduce the cone and paddle error of the inertial navigation system.…”

Vision and Inertial Navigation Combined-Based Pose Measurement Method of Cantilever Roadheader

“…The inertial navigation technology is not affected by the environment and has strong autonomy. It can provide a high-precision attitude angle, but the integral operation over time leads to a large position drift [15,16]. Visual measurement technology has been widely used in the detection of coal mine equipment [17][18][19].…”

Cutting Mechanism Rotor System Dynamic Characteristics of Cantilever Roadheader under Random Hard Rock Load

“…To improve the vibration isolation effect of the roadheader electric control box, Li et al deduced the overall vibration model considering the cutting effect, and obtained the stiffness-damping matching strategy of the vibration isolator on this basis [11]. Shen et al proposed an error compensation method based on the vibration characteristics of the roadheader to reduce the attitude and position measurement errors of the roadheader caused by the complex cutting vibration [12].…”