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ZHANG Jinyao, LI Wei, YANG Hai, SI Zhuoyin, YING Baohua. Study of shearer positioning method using strapdown inertial navigation system[J]. Journal of Mine Automation, 2016, 42(3): 52-55. DOI: 10.13272/j.issn.1671-251x.2016.03.012
Citation: ZHANG Jinyao, LI Wei, YANG Hai, SI Zhuoyin, YING Baohua. Study of shearer positioning method using strapdown inertial navigation system[J]. Journal of Mine Automation, 2016, 42(3): 52-55. DOI: 10.13272/j.issn.1671-251x.2016.03.012
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Study of shearer positioning method using strapdown inertial navigation system

  • School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China

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  • For problem that shearer on fully mechanized coal face has lower positioning accuracy, a shearer positioning method using strapdown inertial navigation system based on Rodrigues parametric method was proposed. The tri-axial accelerometer and suspended gyroscope in the SINS were used to output information of acceleration and angular velocity of the shearer, and Rodrigues parametric method with no-redundancy was applied to calculate the position and attitude data. The simulation result shows that in the process of beveling feed, the maximum positioning error is 0.291 4 m and the maximum error of attitude angle is 0.602 2 °, it meets the requirements of positioning accuracy of shearer.
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