Research On Attitude Determination And Positioning Method Of Shearer Based On Inertial Navigation Technology

Coal is an important basic energy and raw material.Accurate acquisition of the attitude and position information of coal mining machine on the working surface is the key to realize the linked work of coal mining unit and less manned or unmanned mining.The traditional infrared positioning method and gear counting positioning method can monitor the movement displacement of the coal mining machine,but cannot monitor the working attitude of the coal mining machine.In order to effectively compensate the drawbacks of traditional monitoring methods,this dissertation researches the coal mining machine fixed attitude positioning method based on inertial navigation technology,which has theoretical and practical application significance.Based on the in-depth study of inertial navigation technology,this dissertation uses accelerometer and magnetometer to obtain gravitational acceleration and geomagnetic field information respectively for the problem of coal miner attitude positioning,and the valid information is used as the observation value,combined with the traceless Kalman filter for the initial calibration of coal miner attitude.The simulation results show that the initial calibration method based on the traceless Kalman filter has a good effect in the correction of pitch and roll angle.In order to solve the problem of drift error of coal miner in the process of motion,this dissertation uses the differential combined inertial sensor data acquisition model of coal miner to obtain real-time data,and carries out differential fusion processing on the data,and uses the coal miner position attitude difference calculation algorithm for real-time solution to reduce the sexual drift error.The simulation results show that the differential Jetlink inertial guidance system can effectively improve the positioning accuracy of coal miner’s attitude,but the problem of cumulative error dispersion with time still exists.To solve the problem of cumulative error,this dissertation proposes a differential SINS/wireless sensor network-based coal miner positioning method,which uses a combined positioning principle based on the trust factor to calculate the combined positioning results to solve the problem of poor positioning effect of a single system.Experimental results show that the average initial calibration errors of pitch angle,heading angle and roll angle are 0.0459 deg,0.0578 deg and 0.0574 deg,respectively.The experimental results show that the average errors of pitch angle,heading angle and roll angle are 0.2637 deg,0.3199 deg and 0.1470 deg,respectively.The experimental results show that the average errors of east,north and sky directions are 0.0921 m,0.4858 m and-0.0940 m,respectively,which improves the accuracy compared with the single solution method and verifies the effectiveness of the proposed algorithm.