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An Initial Alignment Technology of Shearer Inertial Navigation Positioning Based on a Fruit Fly-Optimized Kalman

Miao Wan1,2, Zhongbin Wang1,3, Lei Si1

  • 1School of Mechatronic Engineering, China University of Mining & Technology, No. 1 Daxue Road, Xuzhou 221116, China.

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This study introduces an improved initial alignment method for shearer positioning using a fruit fly-optimized Kalman filter. This approach enhances accuracy by adaptively optimizing system noise variance, crucial for intelligent coal mining operations.

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Area of Science:

  • Mining Engineering
  • Control Systems
  • Signal Processing

Background:

  • Shearers are essential in mechanized coal mining, requiring precise positioning for operations like memory cutting and intelligent adjustments.
  • Inertial navigation systems (INS) offer autonomous and reliable shearer positioning but suffer from cumulative errors, impacting accuracy.
  • Initial alignment accuracy is critical for the overall performance of INS in dynamic environments.

Purpose of the Study:

  • To enhance the accuracy and efficiency of shearer initial alignment in coal mining.
  • To address the cumulative error problem in inertial navigation-based shearer positioning.
  • To develop an adaptive filtering method for improving INS performance.

Main Methods:

  • An improved initial alignment method utilizing a fruit fly-optimized Kalman filter (FO-KF) algorithm.
  • Adaptive optimization of system noise variance within the FO-KF using an enhanced fruit fly algorithm.
  • Simulation and experimental validation of the proposed FO-KF algorithm.

Main Results:

  • The fruit fly-optimized Kalman filter algorithm demonstrated improved filtering performance for shearer positioning.
  • Adaptive optimization of system noise variance led to more accurate initial alignment.
  • Simulations and experiments confirmed the effectiveness of the proposed method in reducing positioning errors.

Conclusions:

  • The proposed fruit fly-optimized Kalman filter offers a viable solution for accurate and efficient shearer initial alignment.
  • This method effectively mitigates cumulative errors in inertial navigation systems for mining equipment.
  • The adaptive optimization strategy enhances the robustness and precision of the positioning system.