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

Abstract

The shearer positioning method with an inertial measurement unit and the odometer is feasible in the longwall coal-mining process. However, the positioning accuracy will continue to decrease, especially for the micro-electromechanical inertial measurement unit (MIMU). In order to further improve the positioning accuracy of the shearer without adding other external sensors, the positioning method of the Rauch-Tung-Striebel (RTS) smoother-aided MIMU and odometer is proposed. A Kalman filter (KF) with the velocity and position measurements, which are provided by the odometer and closing path optimal estimation model (CPOEM), respectively, is established. The observability analysis is discussed to study the possible conditions under which the error states of KF can be estimated. A RTS smoother with the above-mentioned KF as the forward filter is built. Finally, the experiments of simulating the movement of the shearer through a mobile carrier were carried out, with a longitudinal movement distance of 44.6 m and a lateral advance distance of 1.2 m. The results show that the proposed method can effectively improve the positioning accuracy. In addition, the odometer scale factor and mounting angles can be estimated in real time.

Deep Learning Based Multiresponse Optimization Methodology for Dual-Axis MEMS Accelerometer

“…The output response f X is passed through an activation function to add non-linearity in the perceptron unit to make it able to separate data that is not separable by straight lines. In Equation (2), 𝑔 represents the activation function that is applied to f X to obtain the final output response 𝑦. Figure 2a shows the schematic representation of a perceptron with single value input.…”

“…MEMS inertial sensors, including accelerometers and gyroscopes, are commonly used in various applications such as motion sensing, navigation systems, vibration monitoring, and structural health monitoring [1][2][3][4]. The small size, low power consumption, and low cost of these micromachined sensors make these sensors an excellent alternative to the traditional macroscale inertial sensors.…”