Abstract
The shearer positioning method with an inertial measurement unit and the odometer is feasible in the longwall coal-mining process. However, the positioning accuracy will continue to decrease, especially for the micro-electromechanical inertial measurement unit (MIMU). In order to further improve the positioning accuracy of the shearer without adding other external sensors, the positioning method of the Rauch-Tung-Striebel (RTS) smoother-aided MIMU and odometer is proposed. A Kalman filter (KF) with the velocity and position measurements, which are provided by the odometer and closing path optimal estimation model (CPOEM), respectively, is established. The observability analysis is discussed to study the possible conditions under which the error states of KF can be estimated. A RTS smoother with the above-mentioned KF as the forward filter is built. Finally, the experiments of simulating the movement of the shearer through a mobile carrier were carried out, with a longitudinal movement distance of 44.6 m and a lateral advance distance of 1.2 m. The results show that the proposed method can effectively improve the positioning accuracy. In addition, the odometer scale factor and mounting angles can be estimated in real time.
Highlights
Automated mining based on a longwall face has shown significant potential to improve mining productivity, increase personnel safety, and secure environmental sustainability [1]
micro-electromechanical inertial measurement unit (MIMU) in frame, whichare originates the sensitive defined as follows: b-frame, the MIMU frame, which originates at the sensitive center of MIMU, with the axes pointing to the armored face conveyor (AFC) advance direction, shearer moving dithe MIMU, with the axes pointing to the AFC advance direction, shearer moving rection, and upward; m-frame, the odometer frame, whose axes point right, fordirection, and upward; m-frame, the odometer frame, whose axes point right, ward, and upward; local-leveleast–north–up east–north–up coordinate
A1–A4 corresponded to the time periods of (m) the first to fourth cutting cycles, respecInitial position errors positioning errors of the proposed integrated system with performing RTS smoothing was straightforward to see that the positioning accuracy of all three axes with performi was straightforward to see that the positioning accuracy of all three axes with performi
Summary
Automated mining based on a longwall face has shown significant potential to improve mining productivity, increase personnel safety, and secure environmental sustainability [1]. MIMUmaneuver and theofodometer information fusion method,the which is with the the vehicle.isInanother the case of only MIMU and the odometer, used the field of conventional land navigation advantages smallin and slow steering maneuver of the longwall shearer[17,18,19,20]. We plan to build a KF based on MIMU, odometer, lie in the closed-loop correction of the MIMU attitude and the real-time estimation motion constraint, and CPOEM to achieve better positioning. We propose a positioning method based on MIMU, odometer, motion conon-line RTS smoothing can be summarized as smoothing is executed immediately after a straint, CPOEM, andtoon-line smoother, contributions and benefits certain time window achieveRTS a near real-time whose application effect. Odometer frame can be estimated in real time, avoiding the tedious pre-calibration process
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