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Related Experiment Video

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Simulation Optimization and Application of Shearer Strapdown Inertial Navigation System Modulation Scheme.

Gang Wu^1,2, Xinqiu Fang^1,2, Yang Song^1,2

¹School of Mines, China University of Mining and Technology, Xuzhou 221116, China.

Sensors (Basel, Switzerland)

|May 13, 2023

Summary

This study introduces an improved four-position turn-stop modulation for shearer strapdown inertial navigation systems (SINS). This method significantly enhances attitude perception accuracy, crucial for intelligent mining operations.

Keywords:

attitude perception error compensation shearer strapdown inertial navigation system (SINS)uniaxial rotation modulation

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Area of Science:

Mining Engineering
Geophysics
Robotics

Background:

Accurate operating attitude perception is essential for intelligent mining equipment like shearers.
Current shearer systems face challenges with insufficient perception accuracy.
Strapdown Inertial Navigation Systems (SINS) are key for attitude determination.

Purpose of the Study:

To improve the attitude perception accuracy of shearers.
To establish a rotation model for the shearer's SINS turning mechanism.
To analyze error propagation in different rotation modulation schemes.

Main Methods:

Developed a rotation model for the shearer's SINS turning mechanism.
Investigated error propagation characteristics of single-axis rotation modulation schemes.
Utilized theory and simulation to identify the optimal modulation scheme.
Conducted experimental validation of the chosen scheme.

Main Results:

The improved four-position turn-stop modulation (<360° rotation) was identified as optimal.
Experimental results showed a 24-hour positioning error of 3.7 nmile and a heading angle change of 0.06°.
Field applications demonstrated a significant reduction in positioning and heading angle errors after compensation (17% and 75% respectively).

Conclusions:

The proposed modulation scheme effectively enhances the attitude perception accuracy of SINS in shearers.
This method offers a viable solution for high-precision pose perception in coal mining machinery.
Broad application prospects exist for improving the operational intelligence of mining equipment.