Accurate Positioning Method Of Shearer Based On Multi-mode Information Fusion

As one of the most important technologies of intelligent mining in fully mechanized working face,accurate positioning of shearer is an important premise to realize cooperative operation of shearer and intelligent height adjustment of drum.However,the existing single positioning technology is insufficient in feasibility or positioning accuracy,so by analyzing the existing positioning technology of shearer,the accurate positioning method of shearer based on multi-mode information fusion is studied.As an autonomous positioning system,inertial navigation has the characteristics of independent external information,rich data type output and high short-term accuracy,but the pose data obtained only by using inertial navigation will produce cumulative errors.In this paper,the basic positioning principle of inertial navigation,encoder and lidar which as the three positioning subsystem is studied depth.The multi-mode information fusion positioning strategy of shearer based on federated Kalman filter framework is studied,and a shearer control system based on IPC is built.The main research contents of this paper are as follows:(1)The basic positioning principle of three positioning subsystems including inertial navigation,encoder and lidar is analyzed,and the data simulation of inertial devices is completed.By analyzing the oblique cutting process of shearer,the running track of shearer and the data of inertial navigation device are simulated,which are used to verify the fusion positioning algorithm.(2)The numerical updating model of strapdown inertial navigation system,encoder and lidar positioning is derived,and the pose error model of strapdown inertial navigation system,encoder and lidar positioning is established.In order to ensure that the positioning system has certain accuracy and fault tolerance,a multi-mode information fusion positioning algorithm of shearer based on federated Kalman filter framework is studied,which ensures the accuracy and reliability of the positioning system.(3)A set of software and hardware of shearer control system with industrial computer as the core controller is built which replaces the traditional PLC controller,and has a greatly improvement in computing ability,expansibility and real-time performance.The feasibility of the system is proved by the system verification on the actual shearer.And in the follow-up to improve the control system.(4)A positioning algorithm verification platform based on multi-mode information fusion of shearer is built,and the multi-sensor data are collected,processed and calculated,and compared with the reference trajectory to verify the feasibility and accuracy of the multi-mode information fusion positioning algorithm framework.There are 53 figures,6 tables and 100 references in the dissertation.