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Micromachines 2017, 8(11), 340; https://doi.org/10.3390/mi8110340

Research on the Strategy of Motion Constraint-Aided ZUPT for the SINS Positioning System of a Shearer

1
School of Mechatronic Engineering, Southwest Petroleum University, Chengdu 610500, China
2
School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China
3
College of Internet of things Engineering, Hohai University, Changzhou 213022, China
*
Author to whom correspondence should be addressed.
Received: 30 September 2017 / Revised: 15 November 2017 / Accepted: 17 November 2017 / Published: 22 November 2017
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Abstract

The accurate measurement of position and orientation for shearers is a key technology in realizing an automated, fully-mechanized, coal mining face. Since Global Positioning System (GPS) signal cannot arrive at the coal mine underground, wireless sensor network positioning system cannot operate stably in the coal mine; thus a strap-down inertial navigation system (SINS) is used to measure the position and orientation of the shearer. Aiming at the problem of the SINS accumulative error, this paper proposes a positioning error correction method based on the motion constraint-aided SINS zero velocity updated (ZUPT) model. First of all, a stationary state detection model of the shearer is built with median filter based on the acceleration and angular rate measured by the SINS. Secondly, the motion of the shearer is analyzed using coal mining technology, then the motion constraint model of the shearer is established. In addition, the alternate action between the motion constraint model and the ZUPT model is analyzed at the process of movement and cessation of the shearer, respectively; hence, the motion constraint-aided SINS ZUPT model is built. Finally, by means of the experimental platform of the SINS for the shearer, the experimental results show that the maximum position error with the positioning model proposed in this paper is 1.6 m in 180 s, and increases by 92.0% and 88.1% compared with the single motion constraint model and single ZUPT model, respectively. It can then restrain the accumulative error of the SINS effectively. View Full-Text
Keywords: shearer; strap-down inertial navigation system; positioning error calibration; motion constraint-aided; zero velocity updated shearer; strap-down inertial navigation system; positioning error calibration; motion constraint-aided; zero velocity updated
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Yang, H.; Li, W.; Luo, T.; Liang, H.; Zhang, H.; Gu, Y.; Luo, C. Research on the Strategy of Motion Constraint-Aided ZUPT for the SINS Positioning System of a Shearer. Micromachines 2017, 8, 340.

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