Self-positioning of a shearer is the key technology for mining with a man-less working face. In an underground coal mine all radio navigation; satellite positioning or celestial navigation methods have their limitatio...Self-positioning of a shearer is the key technology for mining with a man-less working face. In an underground coal mine all radio navigation; satellite positioning or celestial navigation methods have their limitations. We analyzed an inertial navi-gation system intended to guide the movement a shearer and designed a self-positioning device for the shearer. Simulation tests were also performed on the system. We analyzed the errors observed in these tests to show that the main reason for the low preci-sion of the self-positioning system is accumulated error in the inertial sensor. A Kalman filtering algorithm used in combination with the shearer motion model effectively reduces the measurement errors of the self-positioning system by compensating for gyroscopic drift. Finally, we built an error compensation model to reduce accumulated errors using continuous correction to provide self-positioning of the shearer within a certain range of accuracy.展开更多
An effective and flexible rotation and compensation scheme is designed to improve the accuracy of rotating inertial navigation system （RINS）. The accuracy of single-axial R1NS is limited by the errors on the rotatin...An effective and flexible rotation and compensation scheme is designed to improve the accuracy of rotating inertial navigation system （RINS）. The accuracy of single-axial R1NS is limited by the errors on the rotating axis. A novel inertial measurement unit （IMU） scheme with error compensation for the rotating axis of fiber optic gyros （FOG） RINS is presented. In the scheme, two couples of inertial sensors with similar error characteristics are mounted oppositely on the rotating axes to compensate the sensors error. Without any change for the rotation cycle, this scheme improves the system＇s precision and reliability, and also offers the redundancy for the system. The results of 36 h navigation simulation prove that the accuracy of the system is improved notably compared with normal strapdown INS, besides the heading accuracy is increased by 3 times compared with single-axial RINS, and the position accuracy is improved by 1 order of magnitude.展开更多
基金Financial support for this work, provided by the National Natural Science Foundation of China (No.50504014), is gratefully acknowledged
文摘Self-positioning of a shearer is the key technology for mining with a man-less working face. In an underground coal mine all radio navigation; satellite positioning or celestial navigation methods have their limitations. We analyzed an inertial navi-gation system intended to guide the movement a shearer and designed a self-positioning device for the shearer. Simulation tests were also performed on the system. We analyzed the errors observed in these tests to show that the main reason for the low preci-sion of the self-positioning system is accumulated error in the inertial sensor. A Kalman filtering algorithm used in combination with the shearer motion model effectively reduces the measurement errors of the self-positioning system by compensating for gyroscopic drift. Finally, we built an error compensation model to reduce accumulated errors using continuous correction to provide self-positioning of the shearer within a certain range of accuracy.
基金supported by the National Natural Science Foundation of China (No.40904018)the Key Laboratory Foundation of the Ministry of Education of China (No.201001)the Doctoral Innovation Foundation of Naval University of Engineering (No.BSJJ2011008)
文摘An effective and flexible rotation and compensation scheme is designed to improve the accuracy of rotating inertial navigation system （RINS）. The accuracy of single-axial R1NS is limited by the errors on the rotating axis. A novel inertial measurement unit （IMU） scheme with error compensation for the rotating axis of fiber optic gyros （FOG） RINS is presented. In the scheme, two couples of inertial sensors with similar error characteristics are mounted oppositely on the rotating axes to compensate the sensors error. Without any change for the rotation cycle, this scheme improves the system＇s precision and reliability, and also offers the redundancy for the system. The results of 36 h navigation simulation prove that the accuracy of the system is improved notably compared with normal strapdown INS, besides the heading accuracy is increased by 3 times compared with single-axial RINS, and the position accuracy is improved by 1 order of magnitude.
