Research On SINS Position And Pose System For Shearer Using ARM

Coal is the foundation energy and raw material which is highly important for our country,with the macroeconomic regulation and control under national “capacity” and “restrucutring”,to ensure the safety,high production and efficientcy of the coal mining becoming a top priority.Intelligence and automation for fully mechanized coal mining face is one of the important prerequisities to realize unmanned operation,safety and high efficient mining,which is an important component in development of “digital mine” and improvement of mechanization and automation for mining machinery.Taking the shearer as research object,on the basis of the Strap-down Intertial Navigation System(SINS),implementing the unmanned operation of fully mechanized coal mining face is the aim of our researches supported by the National High Technology Research and Development Program of China and “333 project” in jiangsu province with the support of scientific research project.Through this thesis reaearches the collaboration motion rule of the Three Machines—Shearer,Scraper conveyor and Hydraulic support,positioning and orientation calculating model for Shearer based on Kinematics Constraint is established.This thesis develops Positioning System for SINS of shearer based on ARM,designing a position and orientation for shearer monitoring software corresponding to simulator test rig.The main research work includes:First of all,positioning and orientation study for shearer based on kinematics constraint is under review.The position and pose equations of shearer is described by analyzing motion rule of shearer and establishing system coordinate system.Compared with positioning and orientation research for shearer existing the accumulative error under pure SINS in long-endurance,which is difficult to achieve precise positioning,the movement characteristics of shearer is summarized.Establishing kinematics constraint model of shearer on the fully mechanized coal mining face,with the aid of kalman filtering algorithm,through the establishment of system state equation and observation equation,the speed and position of shearer under pure SINS are compensated to the correction.Secondly,error research of positioning system for shearer based on SINS is analyzed.Based on researching the internal structure of positioning device under the explosion-proof SINS for shearer,the error source of positioning system for shearer based on SINS is analyzed.Conbined with the positioning device,the causes of installation deviation angle and lever arm effect are expounded.The error compensation of installation deviation angle and lever arm effect are proposed.Through the simulation contrast experiments to explore the higher precision on the position,velocity,and attitude of shearer when correcting installation deviation angle and lever arm effect,this thesis proposes the theory to realize the high precision of positioning and orientation system for shearer based on kinematics constraint.Thirdly,the positioning experimental system for shearer based on kinematics constraint is developed.In order to verify the positioning model of SINS based on kinematics constraint,positioning and orientation of technical proposal is designed and the hardware design is completed,which includes data storage module,network interface module,power module and liquid crystal display module,etc.Besides,lower computer is designed to realize the function of data acquisition for SINS,data self-checking,navigation information decoding,data storage and communication,etc.At the same time,a position and orientation for shearer monitoring software is designed with C# to realize the function of human-computer interaction,multi-channel data real-time monitoring,drawing trajectory.Finally,experimental result for the position and orientation of the shearer is analyzed.The position and pose experiment of shearer is researched on the experimental platform that is established for simulation to cut coal of shearer on the fully mechanized coal mining face and which can verify the positioning theory model availability of SINS based on kinematics constraint.At the same time,the positioning and orientation system accuracy is measured.