Tests and error analysis of a self-positioning shearer operating at a manless working face

被引：12

作者：

FANG X. ^{[1
,2
]}

ZHAO J. ^{[1
,2
]}

HU Y. ^{[3
]}

机构：

[1] School of Mines, China University of Mining and Technology, Xuzhou

[2] State Key Laboratory of Coal Resources and Mine Safety, Xuzhou

[3] School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou

来源：

Mining Science and Technology | 2010年 / 20卷 / 01期

基金：

中国国家自然科学基金;

关键词：

error compensation model; Kalman Filter; self-positioning; shearer; tests;

D O I：

10.1016/S1674-5264(09)60160-5

中图分类号：

学科分类号：

摘要：

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 navigation 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 precision 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. © 2010 China University of Mining and Technology.

引用

页码：53 / 58

页数：5

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