Research On Error Compensation Technology Of MEMS Inertial Device In Strapdown Inertial Navigation Positioning Of Shearer

In order to realize intelligent fully mechanized working face,it is necessary to monitor the position and posture of shearer in real time,and regard the position and posture information of shearer as the reference value of "three machines" coordinated action of fully mechanized working face.Because of the limitation of coal mine environment,this paper uses strapdown inertial navigation method to monitor the position and attitude of shearer.MEMS inertial devices are the core components of strapdown inertial navigation positioning technology,and its accuracy will directly affect the positioning results.Due to the low precision of MEMS inertial devices,the error of MEMS inertial devices is compensated in this paper.In this paper,the importance of position and attitude information of shearer in the process of coal mining is expounded,and the strapdown inertial navigation positioning technology of shearer is obtained.Through the analysis of the error factors in the strapdown inertial navigation positioning system of shearer,it is obtained that the research emphasis of this article is the compensation of the output error of inertial device.Secondly,the error source of MEMS inertial device is analyzed,the error model is established,the parameters are solved,and the results of error compensation model are verified by experiments.Then,according to the random error of MEMS inertial device,the Allan variance is used to analyze the random error of MEMS inertial device,and the random error model is established by using the time series analysis method.then,based on the model,Kalman filter technology is used to reduce noise.Finally,the strapdown inertial navigation positioning system of shearer is designed with Matlab tool.Moreover,the attitude angle output test,attitude angle dynamic test and trajectory tracking test are designed,and the previous research results are verified by these three experiments.The experimental results show that the error compensation model can effectively reduce the output error of MEMS inertial devices,and the Kalman filter using the established random error model can suppress the random noise,thus improving the measurement accuracy of MEMS inertial devices,and finally improving the positioning accuracy of coal mining machine.