采煤机捷联惯导定位方法研究

Study of shearer positioning method using strapdown inertial navigation system

针对综采工作面采煤机定位精度较低的问题,提出了一种基于Rodrigues参数法的采煤机捷联惯导定位方法。该方法运用捷联惯导的三轴加速度计和三轴陀螺仪输出采煤机的加速度和角速度信息,采用无冗余度的Rodrigues参数法对其进行位姿解算。仿真结果表明,在采煤机斜切进刀过程中,采煤机最大定位误差为0.291 4m,姿态误差最大值为0.602 2°,满足采煤机的定位精度要求。

For problem that shearer on fully mechanized coal face has lower positioning accuracy, a shearer positioning method using strapdown inertial navigation system based on Rodrigues parametric method was proposed. The tri-axial accelerometer and suspended gyroscope in the SINS were used to output information of acceleration and angular velocity of the shearer, and Rodrigues parametric method with no-redundancy was applied to calculate the position and attitude data. The simulation result shows that in the process of beveling feed, the maximum positioning error is 0. 291 4 m and the maximum error of attitude angle is 0. 602 2 °, it meets the requirements of positioning accuracy of shearer.