Present situation and development direction of navigation technology of boom-type roadheader

Problems of navigation and positioning of boom-type roadheader and its particularity and mathematical description were described. Status of technology of electro-optical navigation and positioning and pose detection, technology of inertial navigation, and navigation and positioning technology based on multi-information fusion were analyzed in details. The conclusions were obtained: the technology of electro-optical navigation is mature and has high precision, but there are serious environmental adaptability problems in coal mine application; the inertial navigation technology has strong adaptability, high accuracy of pose detection, but has poor precision of long-term positioning; the technology based on fusions of multi-information and multi-sensor, which combining electro-optical navigation and inertial navigation, may be the better way to solve the problem of spatial position and pose detection of boom-type roadheader, the key to realization of information fusion is to solve measuring benchmarking issues brought from multi-information and multi-sensor, and more robust fusion algorithm is needed.