Abstract
The strapdown inertial navigation system can provide the navigation information for the boom-type roadheader in the unmanned roadway tunneling working face of the coal mine. However, the complex vibration caused by the cutting process of the boom-type roadheader may result in significant errors of its attitude and position measured by the strapdown inertial navigation system. Thus, an error compensation method based on the vibration characteristics of the roadheader is proposed in this paper. In order to further analyze the angular and linear vibration of the fuselage, as the main vibration sources of the roadheader, the dynamic model of the roadheader is formulated based on the cutting load. Following that, multiple sub-samples compensation algorithms for the coning and sculling errors are constructed. Simulation experiments were carried out under different subsample compensation algorithms, different coal and rock characteristics, and different types of roadheader. The experimental results show that the proposed error compensation algorithm can eliminate the effect of the angular and linear vibration on the measurement accuracy. The coning and sculling error of the strapdown inertial navigation system can reduce at least 52.21% and 42.89%, respectively. Finally, a strapdown inertial navigation error compensation accuracy experiment system is built, and the validity and superiority of the method proposed in this paper are verified through calculation and analysis of the data collected on the actual tunneling work face.
Highlights
The International Energy Agency (IEA) points out that despite the growth of low-carbon emission fuels in recent decades, coal still dominates the global energy market
This paper proposes a compensation strategy for the strapdown inertial navigation system (SINS) calculation error of the boom-type roadheader under a complex vibration environment
I=1 where ∆θmN is the increment of angular vibration in time period [tm−1, tm], ∆vmN is the increment of linear vibration velocity in time period [tm−1, tm], and ks is the sculling error compensation coefficient
Summary
The International Energy Agency (IEA) points out that despite the growth of low-carbon emission fuels in recent decades, coal still dominates the global energy market. The real-time perception of the position and attitude parameters of the roadheader in the process of cutting the coal wall is a key issue for realizing the unmanned tunneling face. Miller [15] proposed a three-subsample optimization algorithm for equivalent rotation vectors in a coning motion environment; On this basis, Musoff [16] proposed the optimization index of the coning compensation algorithm; Savage [17,18] has performed a systematic study on the error compensation of sculling motion effect and scrolling motion effect These studies have a certain generality, the compensation for errors is only based on a single frequency, and it cannot achieve suitable results for complex mechanical vibrations in specific environments. Tohbetaminaiendin. nSoevcattiioonno3f propos tahcmiaslucplutaip-lraeirgtiiiodsntbhoadetyrtrhdoryornuagcmohimcthmpe oefodnresclea, atainmoanulyltsmii-ssaoomdf ptehllee. erSorriaomdrhuceolamadtepiroenansnadtaitonhndemcoaentnhsaotrlduycostfiisoSnINwoSfere car bSaseecdtioonnth4e. aCnogunlcalruvsiiborantsioanraenddrlianweanr viinbrSateiocntioofnth5e. roadheader body is proposed, which improves the accuracy of SINS applied to the roadheader in different situations
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