Research On Positioning Method Of Continuous Miner In Underground Coal Mine

The positioning and orientation data of the driving equipment is the basis for realizing the remote control of the equipment and the precise shaping of the roadway.It provides the operators with accurate position and posture information of the equipment,which is of great significance to the unmanned operation of the coal mining face.Aiming at how to realize the precise positioning and orientation of underground tunneling equipment represented by continuous shearers,the main research contents and conclusions of this paper are as follows:1.A positioning and orientation method for continuous shearers in underground coal mines is proposed,which combination of dual odometer and laser ranging radar,based on strapdown inertial navigation system.According to the actual operating mode of the continuous shearer,select different sensor combinations for different operating modes to perform positioning calculations:When continuously forward or backward,use the combination of inertial navigation,dual odometer and laser ranging radar to solve the problem;Use inertial navigation,dual odometer combination method or use inertial navigation alone to solve the problem;When cutting,use inertial navigation combined with zero-speed correction algorithm to solve;Initial alignment of the inertial navigation system when standing still.2.Derive the strapdown guidance data update algorithm and dead reckoning algorithm,establish the error model of the positioning plan.The Kalman filter is used to perform data fusion on the solution data of the three types of sensors to reduce the error drift caused by the accumulation of inertial navigation over time.3.Under the conditions of simulated slippage and high dust concentration,carry out MATLAB simulation experiments to compare the filtering accuracy and fault tolerance of the Centralized and Federated Kalman Filters.The simulation results show that the accuracy of the two filter types is similar under normal conditions.The attitude error output by the positioning method is within the range plus or minus2.5angular minutes,the velocity error is within the range plus or minus 0.05 meters per second and the position error is within the range plus or minus 0.05 meters.And the Federal Kalman Filtering has a certain degree of fault tolerance.4.Carry out ground vehicle simulation experiments to verify the accuracy and fault tolerance of the positioning method in actual application.The simulation experiment results show that the experimental vehicle travels continuously for 20 meters,the positioning accuracy can reach 10 centimeters.It can provide theoretical and experimental basis for downhole field tests.