Research On Inertial Navigation Positioning Method Of Shearer

The shearer is one of the core equipments of the fully mechanized coal face.The fast and accurate positioning of the shearer is the prerequisite for its memory cutting,intelligent height adjustment and intelligent speed adjustment.The accurate positioning of the shearer based on inertial navigation can not only determine its operating position,but also measure the direction of movement.However,when inertial navigation is used to locate the shearer in motion,the cumulative errors will occur,resulting in inaccurate positioning of the shearer,which affects the effect of the shearer's memory cutting,intelligent height adjustment and intelligent speed adjustment.In order to improve the positioning accuracy of the shearer,in this paper,the inertial navigation positioning method of the shearer is studied in depth.Shearer inertial navigation positioning model and shearer inertial navigation positioning error model are established.The initial alignment method of shearer inertial navigation positioning based on a fruit fly optimized Kalman filter algorithm,and differential calculation method of shearer position and attitude based on differential inertial sensor group are studied.The main research contents of the paper are as follows:(1)The basic structure of the shearer and its cooperative working principle with the scraper conveyor and hydraulic support are analyzed,and the inertial navigation positioning model of the shearer is established.The main error types generated by the inertial navigation positioning of the shearer are analyzed,a scheme of shearer inertial navigation positioning is proposed.(2)The attitude error model,speed error model,position error model and system error model of the shearer inertial navigation positioning are established.In order to improve the initial alignment accuracy of the shearer inertial navigation positioning,the fruit fly optimization algorithm was improved,and an initial alignment method of shearer inertial navigation positioning based on a fruit fly optimized Kalman filter algorithm is studied,and the initial alignment accuracy of the shearer inertial navigation positioning is improved,which lays a foundation for improving the accuracy of shearer inertial navigation positioning.(3)The deterministic drift and non-deterministic drift produced by the inertial navigation positioning of the shearer are analyzed.For the above two types of drift errors,a data fusion model of differential inertial sensor group is established,and a differential calculation method of shearer position and attitude based on differential inertial sensor group is studied,which improves the accuracy of the shearer's position and attitude calculation.(4)The shearer inertial navigation positioning experiment platform are designed and built,and the ground experiment was tested in Jiangsu Mining Intelligent Equipment Center.The experiment verified the correctness and effectiveness of the shearer inertial navigation positioning method.The paper has 35 pictures,5 tables,and 97 references.