Study on the Shearer Attitude Sensing Error Compensation Method Based on Strapdown Inertial Navigation System

Intelligent mining is the demand and inevitable development direction of China’s coal industry, shearer attitude based on 3D spatial scale essential basic information for realizing intelligent at fully mechanized face. The traditional monitoring technology cannot meet accuracy requirements sensing equipment an working In this paper, principle strapdown inertial navigation system (SINS), a real-time solution algorithm constructed, specific process SINS coarse alignment fine studied. main error terms affecting are analyzed, initial error, installation deviation angle vibration effect compensated analyzed through simulation one by one. According to characteristics shearer, coning sculling shearer’s simulation. This paper provides complete set theories methods improvement in underground operation; results also verify that can significantly improve perception which provide theoretical technical reference production state prediction face control equipment.