An Initial Alignment Technology of Shearer Inertial Navigation Positioning Based on a Fruit Fly-Optimized Kalman Filter Algorithm

Abstract

The shearer is one of the core equipment of the fully mechanized coal face. The fast and accurate positioning of the shearer is the prerequisite for its memory cutting, intelligent height adjustment, and intelligent speed adjustment. Inertial navigation technology has many advantages such as strong autonomy, good concealment, and high reliability. The accurate positioning of the shearer based on inertial navigation can not only determine its operating position but also measure the direction of movement. However, when inertial navigation is used to locate the shearer in motion, the cumulative errors will occur, resulting in inaccurate positioning of the shearer. The accuracy of the initial alignment is directly related to the working precision of the inertial navigation system. In order to improve the efficiency and accuracy of initial alignment, an improved initial alignment method is proposed in this paper, which uses a fruit fly-optimized Kalman filter algorithm for initial alignment. In order to improve the filtering performance, the fruit fly-optimized Kalman filter algorithm uses an improved fruit fly algorithm to realize the adaptive optimization of system noise variance. Finally, simulation and experiments verify the effectiveness of the fruit fly-optimized Kalman filter algorithm.

Visual Analysis of Strapdown Inertial Navigation Information Model

“…Therefore, improving the calculation accuracy of the carrier attitude matrix is an important content of the strapdown inertial navigation system research. Due to the uncertainty of the motion process of the carrier and the non-exchangeability of the limited rotation of the rigid body, the existing attitude algorithm of the core strapdown inertial navigation system will introduce a nonexchangeable error, and reducing the core non-exchangeable error is an effective method to improve the attitude accuracy of the carrier [4,5,6].…”