Research On Shearer Inertial Navigation System Technology Based On Motion Constraints

With the country’s macro-control of the energy structure,efficient,a green and safe mining of coal which is an important basic energy source is more and more important,and the straightening of the scraper conveyor during the mining process will directly affect its efficiency.Shearer is one of the important equipment in fully mechanized mining face.It realizes the cutting of the coal wall by riding on the scraper trough to carry out reciprocating movement,so its precise positioning is very important for the straightening of the scraper conveyor.This paper takes the shearer as the research object,analyzes its motion characteristics and performs zerospeed detection based on support vector machine to determine the motion state.On the basis of strapdown inertial navigation,a zero-speed correction error suppression strategy based on motion constraints is proposed,and the inertial navigation system for shearers based on motion constraints is studied.The main research contents are as follows:（1）Aiming at the complex working environment and low positioning accuracy of the shearer,and the low measurement accuracy of the general MEMS inertial device,a fiber-optic strapdown inertial navigation system scheme with FPGA and DSP as the core solution and processing platform is constructed to achieve high-precision measurement of the shearer’s position and attitude information.（2）Aiming at the limitation of conversion range,resolution and nonlinearity when using the current/frequency conversion method to acquire the analog current signal output by the quartz flexible accelerometer,a current/frequency conversion method based on FPGA and ADC is proposed.,and completed the related circuit design.Based on the classical current/frequency conversion circuit,the method controls the ADC to collect the integral voltage through FPGA and performs pulse extension calculation based on it,so as to improve the transfer coefficient and resolution of the conversion circuit.（3）Aiming at the problem that the positioning accuracy of the shearer inertial navigation system is easy to diverge during long flight time,without adding external sensors and other positioning means,a motion constraint model was constructed by analyzing the motion characteristics of the shearer,and a dynamic zero-speed correction error suppression strategy based on motion constraints is proposed.Due to the complex underground environment and the change of the shearer’s motion state,the traditional threshold detection cannot meet the requirements,so the adaptive zero-speed detection method based on support vector machine is used to discriminate its motion state,By establishing the system state equation and observation equation,the position and velocity errors of the shearer are compensated and corrected with the help of the Kalman filter algorithm,and the effectiveness and feasibility of the proposed error suppression strategy are verified by simulation analysis and on-board tests.