Error Analysis and Reduction for Shearer Positioning using the Strapdown Inertial Navigation System

Shearer dynamic positioning is a key factor for coal mine equipment automation, and it is feasible to shearer positioning using the strapdown inertial navigation system(SINS). Yet, it is very difficult to guarantee positioning accuracy by error influence. This paper provided a method for shearer positioning error analysis. Firstly, we built the shearer state equation and put forward a method called quaternion method rule. This method can deduce misalignment angle of the shearer Inertial Navigation System. Secondly, we considered the initial alignment error of INS is the main system error, the nonlinear Extended Kalman Filter (EKF) is proposed to estimate and adjust the misalignment angles, as well as the shearer velocity. Shearer dynamic positioning accuracy is guaranteed by precise and fast alignment of the INS. Based on the shearer state equation; this paper derived the observation equation. Finally, we simulated the initial alignments process which contains the observation equation and initial condition, and did experiment using ADIS16350. Results show misalignment angles model and EKF is feasible for initial alignments of INS in shearer positioning.