Research On Shearer's Positioning Accuracy Optimal Method Based On Redundant Inertial Navigation System

As one of the most important technology for intelligent longwall minging,shearer positioning is pivotal for horizontal control,face alignment and combination of shearer,hydraulic supports and scraper conveyor.Inertial navigation system?INS?and enconder integrated navigation is an efficient method to improve the accuracy of shearer positioning,but drift errors of inertial device will be accumulated for long time work.Merely one INS positioning accuracy can't be improved obviously in underground coal mine circumstance.Hence,it is practically significant to improve shearer's INS positioning accuracy using current technology and merely using INS without external information assistances.Focusing on this point of view,shearer's positioning accuracy optimal method based on redundant INS was researched in this paper.The main tasks and relative conclusions as follows:1.Redundant INS shearer positioning model was established based on INS and coder integrated shearer positioning in which shearer's postion was estimated through EKF in which the three INS positions were used as state quantities and distances among INS were used as measurement quantities.Then attitude angles calculating method was proposed when the three INS were installed on axes of shearer coordinate frame.Parametric impact analysis of redundant INS postioning illustrates that heading,pitch,distances among INS and direction of three-INS-plane are all impacted parameters of accuracy.2.Redundant INS shearer positioning simulation model was established and INS error of simulation test was acquired through static error test of INS.Positions of the three INS outputted by EKF filter was draw to be three-dimensional triangles?estimated triangles?,then the reasons which influences accuracy of redundant INS positioning algorithm was concluded through comparisons of factors which were locations of three-dimensional estimated triangles and its projection shapes on horizontal plane and vertical plane,estimated distances among INS,interior angles whose vertexes are the three INS,skewing of normal vector of the plane containing the estimated triangle,and so on:skewing of normal vector of the plane containing the estimated triangle is main factor influenceing accuracy of redundant INS positioning algorithm and locational skewing of three-dimensional estimated triangle influences accuracy of redundant INS positioning algorithm in some extent.Influence of shearer running conditions and the most optimal installation of multi-INS was concluded under simulation conditions:positioning accuracy rasied with pitch and reached the peak when heading is 0°;the highest accuracy achieved when distances among INS is 0.2m;shearer positioning accuracy reached the hightest accuracy when INS installation makes?₃ is 80°on positive plane;shearer positioning accuracy reached the hightest accuracy when INS installation makes?₃ is 60°on negative plane.3.A set of multi-INS redundant surficial moving device which carried GPS-RTK mobile station which provided high-accuracy track regarded as referenced real track was established.Through superficial test the most optimal installation of the three INS was concluded:the highest accuracy achieved when distances among INS is 0.2m;shearer positioning accuracy reached the hightest accuracy when INS installation makes?₃ is 90°on positive plane;shearer positioning accuracy reached the hightest accuracy when INS installation makes?₃ is 45°on negative plane.Finally,the most optimal installation achieved through comparison and analysis of simulation results and test results:the three INS are installed on horizontal plane?positive plane,the distances among INS is 0.2m,?₃=90°?.In addition,shape of the estimated triangle is also one of the factors influenced accuracy of redundant INS positioning algorithm,which was discovered by test.There are 73 figures,1 table and 90 references in this dissertation.