To ensure that the shaft boring machine (SBM) runs along the pre-designed axis steadily, the role of the attitude measurement system is essential, but its accuracy and reliability cannot be guaranteed. Currently, there is no effective technology to meet the actual requirements, and there is a lack of relevant theoretical research in this field. Through further study of the attitude analysis method and multi-sensor fusion technology, this paper presents a dual coordinate method, which can be used to describe the attitude characteristics of the SBM. Moreover, this paper discusses the relationships between the attitude changes and the values of the angle as well as displacement and analyzes the implementation complexity and computational efficiency of related algorithms in software and hardware. According to the working characteristics of the SBM, the hardware design and the reasonable layout of the attitude measurement system are provided. Based on multi-sensor data, this paper puts forward an improved method combining a complementary filter with an extended Kalman filter (EKF) for attitude estimation and error compensation. The simulation experiments of different working processes verify the steady-state response and dynamic response performance of the method. Experimental results show that the dual coordinate method and the proposed filter are more suitable for attitude estimation of the SBM compared to other methods.

In this paper, the method mixed potential integral equation (MPIE) combined with half rooftop basis function is used to analysis the long-wire antenna with matched loading terminations. MPIE is a kind of integral equations in Method of Moment (MOM) and can effectively deal with models with terminal loads. The contribution of this method is that we can take proper measures to the boundaries of the model by using the half basis function, which allows the current to flow across the edges. All of the elements in MoM impedance matrix, only the elements in the first and second rows need calculating for the structure of straight line according to the principle of reciprocity and symmetry. The results of current, voltage along the line and the radiation field calculated by this method agree well with the results of theoretical value and transmission-line theory(TL). Keywords-long-wire antenna, Matched losding, MPIE MOMI.