The Research Based On Strapdown Inertial Navigation Of Shearer Position And Posture Calculate Algorithm

The shearer is an important equipment in the fully mechanized working face, the positionand posture detection is the key technology to realize the automatic cutting coal. To determinerunning posture and position of coal winning machine is the premise of realizing "threemachines" linkage,memory and cutting technology in fully mechanized coal face. For thecurrent research and use of gear counting method,infrared correlation method can notreal-time,in three-dimensional direction for the determination of shearer position and posture,this article chooses the strapdown inertial navigation to test the position and attitude of sheaer,studying the algorithm of shearer with the application of the strapdown inertial navigation.Through analysis cutting process and influence factors of position and attitude ofsheaer,determine the sheaer position and posture are three-dimensional positioning,on thebasis of analyzing the principle of the strapdown inertial navigation,illustrates the principle thestrapdown inertial navigation to test sheaer position and posture;aiming at the research of howto use the data collected of inertial elements for calculating sheaer position and posture,on thebasis of defining coordinate system,simulate and compare the updating algorithms of attitudematrix,determineFourth order runge kutta method is suitable for calculating dynamic postureof shearer,gives the basic calculation methods of coal winning position and attitude,andexplain the strapdown inertial navigation method for initial alignment in the coal miningmachine;Calculating dynamic attitude Angle,speed and position of shearer,use Matlab simulatethe trajectory of shearer,calculating the inertial components outputs as the input to simulate theposition and posture algorithm of sheaer; set up the simple simulation test-bed to experimentvalidation,using the car simulate the movement of sheaer on flexible orbit,collect themeasurement data of inertial components to calculae position and posture,measuring the carkey nodes in the actual trajectory and attitude Angle fitting curve,compared with the computeddata curve.Simulation and experimental results show that the algorithms can be used for calculating the position and running posture of shearer.