Precise Shearer Positioning Technology Using Shearer Motion Constraint and Magnetometer Aided SINS

Abstract

The key technology to realize intelligent unmanned coal mining is the strapdown inertial navigation system (SINS); however, the gradual increase of cumulative error during the working process needs to be solved. On the basis of an SINS/odometer (OD)-integrated navigation system, this paper adds magnetometer (MAG)-aided positioning and proposes an SINS/OD/MAG-integrated shearer navigation system. The velocity observation equation is obtained from the speed constraints during shearer movement, and the yaw angle observation equation is obtained from the magnetometer output. The position information of the SINS output is calibrated using these two observations. In order to improve the fault tolerance of the integrated navigation system, an adaptive federated Kalman filter is established to complete the data fusion of the SINS. Experimental results show that the positioning accuracy of the SINS/OD/MAG-integrated navigation system is 75.64% and 74.01% higher in the east and north directions, respectively, than the SINS/OD-integrated navigation system.

Research on the Shearer Positioning Method Based on the MEMS Inertial Sensors/Odometer Integrated Navigation System and RTS Smoother

“…The moving speed of the shearer is denoted by v m y , which can be measured by the odometer. Taking into account the scale factor error, δk D , and measurement noise, w OD , of the odometer, the actual output, v m y , of the odometer can be expressed as [20,21,32]:…”

“…The reason is that DR, as an open-loop structure, cannot prevent the divergence of inertial navigation attitude errors. Establishing a Kalman filter (KF) based on MIMU and the odometer is another information fusion method, which is widely used in the field of conventional land navigation [17][18][19][20]. The advantages of this method lie in the closed-loop correction of the MIMU attitude and the real-time estimation of the inertial device parameters.…”

“…The effect of correction and estimation has a lot to do with the steering maneuver of the vehicle. In the case of only MIMU and the odometer, the small and slow steering maneuver of the longwall shearer is difficult to achieve the ideal positioning effect [20,21]. Therefore, we plan to build a KF based on MIMU, odometer, motion constraint, and CPOEM to achieve better positioning.…”

Experimental study on shearer traction vibration considering attitude disturbances

“…Combining the positioning methods of inertial navigation, encoder, and laser radar, Wang et al [ 20 ] proposed a multi-source information fusion positioning method for the shearer based on Kalman filtering, and they verified the feasibility of this method through experiments. With the aid of motion constraints and the magnetometer, Yan et al [ 21 ] improved the stability and robustness of the shearer navigation system, and the navigation accuracy was improved by more than 70%. To improve the accuracy of the shearer positioning, Wu et al [ 22 ] analyzed the shearer vibration and proposed an error correction method of the inertial navigation system, which effectively suppressed the impact of the vibration on the shearer positioning accuracy.…”