Research On Accurate Position And Pose Perception Theory And Technology For Shearer With SINS/WSN Integrated Localization

With the implementation and development of national energy strategy, the coal mining has been made to advances to the green, safety and high efficient mining gradually from high-volume production. Automation and intelligence for fully mechanized coal mining face is one of the key technologies to realize unmanned operation, safety and high efficient mining, which is an important component in improvement of informationization and automation standards for mining machinery. Taking fully mechanized coal mining “three machines” i.e. Shearer, Scraper conveyor and Hydraulic support, as the object, this dissertation researches the high-accuracy position and pose perception technology supported by the National High Technology Research and Development Program of China. On the basis of the Strap-down Inertial Navigation System(SINS) and Wireless Sensor Network(WSN), implementing the automation of “three machines” in the coal mine is the aim of our researches. Through building the dynamic model of shearer and kinematic model of three-machine, SINS error compensation method and multi-constraint localization solution method have been researched. Moreover, the SINS/WSN integrated positioning system for shearer is built. The data transmission characteristics of different sensors are analyzed. Meanwhile the influence factor of WSN is studied based on the environment of a coal mine. Data asynchronous fusion method of integrated positioning system and the faulttolerant tightly-coupled integrated positioning method are proposed based on different failure modes of WSN. Then the position and pose perception of shearer can be achieved with a complex environment of coal mine. The main research works includes:1) Researching on solution error compensation strategy of SINS based on the dynamic model of shearer. After building the multi-rigid-body dynamics model of shearer, the vibration of shearer fuselage is calculated with numerical simulation algorithm. Through analyzing the vibration characteristic of shearer fuselage with a dynamic model, the equivalent second-order vibration model for shearer fuselage is designed. By means of the angular vibration and linear vibration of shearer fuselage, the coning error and sculling error compensation models of SINS are established based on the quaternion multi-sample orientation solution algorithm.2) Researching on the measured error calibration strategy for SINS based on the kinematic constraint of shearer. After analyzing the measurement biases of accelerometer and gyroscope in SINS, the stationary state detection method of Shearer is proposed based on the median filter algorithm. Measurement bias calibration models for accelerometer and gyroscope are built with Least Square algorithm at the stationary state before shearer motion. Moreover, according to the velocity characteristic of shearer, the measured acceleration correction model of SINS is established based on the Fuzzy Inference System(FIS). Finally, the kinematic constraint characteristic of shearer from the Scraper conveyor has been analyzed. According to the zero-velocity condition for the stop of shearer, the SINS zero velocity updated model aided by kinematic of shearer is obtained.3) Researching on the integrated positioning strategy of SINS/WSN for the asynchronous data. Firstly, the node deployment model and localization solution model of Wireless Sensor Network are built. Then the time alignment error between SINS and WSN is analyzed and the positioning error of traditional synchronous fusion algorithm for integrated positioning system is studied with asynchronous data. Moreover, the batch processing-based pseudo measurement equation is built with fixed fusion period. According to the measured data of WSN at every fusion period, the auto-changed asynchronous fusion positioning model is designed based on the batch processing method. Finally, the improved asynchronous fusion positioning model for the nonalignment data is obtained based on the Unscented Kalman Filter.4) Researching on the multi-model fault-tolerant integrated positioning strategy of shearer for the failure of WSN. After analyzing the conditions of gross position error and data missed for WSN in the positioning process, the fault-tolerant judgement model with decision tree algorithm is built based on the failure conditions of WSN. Moreover, the fault-tolerant integrated positioning model of SINS/WSN system can be established based on the Kalman Filter algorithm. If some anchor nodes cannot measure the accurate distance between anchor node and mobile node, the WSN will not calculate the accurate position of shearer. Aimed at above condition, the fuzzy adaptive tightlycoupled integration positioning model is built using remaining accurate measured distances based on the calibration for the measured distance error of WSN. Finally through analyzing the advantage of two proposed fault-tolerant positioning models for different failure modes of WSN, the automatic switching multi-model positioning model is established based on the residual detection of Kalman Filter. Then the adaptive fault-tolerant integrated positioning strategy has been achieved for different failure states of WSN.