Experimental Study On Position And Pose Monitoring System For Shearer Using SISN Integrated With WSN

Coal is the foundation energy and raw material which is highly important for our country, coal-dominated energy structure will last a long time. Along with accident occurred frequently, the safe and efficient mining issue has been a primary research subject during international and domestic academics. Fully mechanized coal face is one of the working link for coal mining with complicated application technology which deeply reflect high yield and efficient mining, the key to realize mining fleet linkage work and shojinka or unmanned mining is position and pose perception for shearer on the coal face. Taking the shearer as research object, this thesis reaearches the collaboration motion rule of the Three Machines, then the inertial navigation system(INS) integrated with the wireless network sensor(WSN) are applied to derive the collaboration positioning and orientation model, at last, location combination correction method which based on trustworthiness is proposed. This Thesis develop a position and orientation for shearer monitoring software corresponding to simulator test rig, aiming at realizing positioning and orientation steady for shearer on the fully mechanical coal face. The main research work includes:1) Positioning and Orientation Research for Shearer under Strap-down Inertial Navigation System. The position and pose equations of shearer is described by analyzing motion rule of shearer and establishing system coordinate system.Compared with existing shearer positioning method, inertial navigation technique is proposed to achieve positioning and orientation for shearer. Inertial navigation equation of the shearer is established. Inertial navigation attitude solution strategy based on coning error compensation and speed, position solution strategy is proposed. Finally the proposed method of SINS is tested.2)Dynamic Positioning Strategy for Shearer under SINS and WSN Integrated System. Based on researching the positioning strategy for shearer under wireless sensor network and error characteristic, the integrated navigation strategy SINS/WSN is proposed which is based on trustworthiness. Finally the proposed method of SINS/WSN is tested.3)Experimental Platform Building and PC Software Design. In order to verify the integrated navigation model of SINS/WSN, the collaboration positioning experiment platform is designed. At the same time, a position and orientation for shearer monitoring software is designed with C#, Matlab and SQL database. Fistly, C# programming language is used to develop graphical man-machine interface. Secondly, adopting Matlab design smoothing and position and pose calculation D-algorithm. During the course o f a program, we access to data by using SQL database. Finally, users can watch the result of position and pose on the interface.4)Experimental Result Analysis for the Position and Orientation of Integrated System. The position and pose experiment of shearer is researched on the experimental platform, which can verify the integrated navigation model accuracy of SINS/WSN. Finally, the positioning and orientation system accuracy is measured.