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Research on the Shearer Positioning Method Based on the MEMS Inertial Sensors/Odometer Integrated Navigation System

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Summary
This summary is machine-generated.

This study introduces an improved shearer positioning method using a micro-electromechanical inertial measurement unit (MIMU) and odometer, enhanced by a Rauch-Tung-Striebel (RTS) smoother. The new approach significantly boosts positioning accuracy in longwall coal mining.

Keywords:
Rauch-Tung-Striebel (RTS) smootherclosing path optimal estimation model (CPOEM)kalman filtermicro-electromechanical inertial measurement unit (MIMU)shearer positioning

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Area of Science:

  • Mining Engineering
  • Robotics and Automation
  • Geospatial Information Science

Background:

  • Shearer positioning in longwall coal mining using inertial measurement units (IMUs) and odometers is feasible but suffers from decreasing accuracy, particularly with micro-electromechanical IMUs (MIMUs).
  • Existing methods struggle to maintain high precision over extended operations without external sensors.

Purpose of the Study:

  • To enhance the positioning accuracy of mining shearers.
  • To develop a novel positioning method that integrates MIMU and odometer data using a Rauch-Tung-Striebel (RTS) smoother.
  • To achieve improved accuracy without relying on additional external sensors.

Main Methods:

  • A Kalman filter (KF) was established, incorporating velocity and position measurements from an odometer and a closing path optimal estimation model (CPOEM).
  • Observability analysis was performed to determine conditions for estimating KF error states.
  • A RTS smoother was constructed, utilizing the developed KF as its forward filter.
  • Experimental validation involved simulating shearer movement with a mobile carrier over 44.6 m longitudinal and 1.2 m lateral distances.

Main Results:

  • The proposed RTS smoother-aided MIMU and odometer positioning method demonstrated a significant improvement in positioning accuracy.
  • Real-time estimation of the odometer scale factor and mounting angles was achieved.
  • The method effectively addressed the accuracy degradation issues inherent in MIMU-based systems.

Conclusions:

  • The RTS smoother-aided MIMU and odometer positioning method is a viable solution for enhancing shearer positioning accuracy in longwall coal mining.
  • This approach offers a cost-effective way to improve precision without additional external sensors.
  • The real-time estimation capabilities further enhance the practical applicability of the system.