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

• Published in: Micromachines (Basel) Vol. 12; no. 12; p. 1527
• Main Authors: Zheng, Jiangtao, Li, Sihai, Liu, Shiming, Guan, Bofan, Wei, Dong, Fu, Qiangwen
• Format: Journal Article
• Language: English
• Published: Switzerland MDPI AG 08.12.2021; MDPI
• Subjects: Accuracy; Algorithms; Automation; closing path optimal estimation model (CPOEM); Coal mining; Doppler radar; Global positioning systems; GPS; Hydraulics; Inertial navigation; Inertial platforms; Inertial sensing devices; kalman filter; Kalman filters; Longwall mining; micro-electromechanical inertial measurement unit (MIMU); Microelectromechanical systems; Navigation systems; Noise; Odometers; Position measurement; Rauch-Tung-Striebel (RTS) smoother; Sensors; shearer positioning; Velocity; Rauch-Tung-Striebel (RTS) smoother; micro-electromechanical inertial measurement unit (MIMU); closing path optimal estimation model (CPOEM); shearer positioning; kalman filter
• ISSN: 2072-666X; 2072-666X
• DOI: 10.3390/mi12121527

The shearer positioning method with an inertial measurement unit and the odometer is feasible in the longwall coal-mining process. However, the positioning accuracy will continue to decrease, especially for the micro-electromechanical inertial measurement unit (MIMU). In order to further improve the positioning accuracy of the shearer without adding other external sensors, the positioning method of the Rauch-Tung-Striebel (RTS) smoother-aided MIMU and odometer is proposed. A Kalman filter (KF) with the velocity and position measurements, which are provided by the odometer and closing path optimal estimation model (CPOEM), respectively, is established. The observability analysis is discussed to study the possible conditions under which the error states of KF can be estimated. A RTS smoother with the above-mentioned KF as the forward filter is built. Finally, the experiments of simulating the movement of the shearer through a mobile carrier were carried out, with a longitudinal movement distance of 44.6 m and a lateral advance distance of 1.2 m. The results show that the proposed method can effectively improve the positioning accuracy. In addition, the odometer scale factor and mounting angles can be estimated in real time.