Research on shearer positioning with double-INS

Abstract

Purpose This paper aims to improve shearer positioning accuracy. Shearer positioning using an inertial navigation system (INS) is a highly useful technology; however, positioning accuracy is seriously hindered by INS attitude error, particularly heading drift. Design/methodology/approach A shearer positioning model with double-INS based on extended Kalman filter was proposed. The constant distance between two INSs (INS 1 and INS 2) was selected as the observation vector. Allan variance was used to identify the noise type of the vertical-axis gyroscope, and the stochastic process of heading drift for two INSs was obtained and divided into incongruous drift and concurrent drift. Findings Simulation was then carried out to determine the optimal arrangement of the two INSs. For incongruous drift, the optimal arrangement satisfied the condition that the line connecting INS 1 and INS 2 was perpendicular to the shearer lateral axis (in the shearer coordinate frame) and parallel to the east-north plane (in the east-north-up coordinate frame). Under optimal arrangement, the positioning accuracy increased against the distance between INS 1 and INS 2. For concurrent drift, the double-INS positioning model had no effect. Under the circumstances, the number of INSs should be increased so that the uncertainty of INS drift was reflected as much as possible. Originality/value A new double-INS positioning model was proposed with the constant distance between the two INSs. The optimal arrangement for double-INS was obtained.

Experimental Research of Triple Inertial Navigation System Shearer Positioning

“…Chinese scholars have also undertaken a variety of research on improving INS positioning accuracy of the shearer. From 2016 to now, the scientific research team of the authors has proposed Shearer Positioning Technology Combined with INS and Coder [7], Shearer INS Positioning Dynamic Zero-Speed Correction Technology [8], Dynamic Precise Positioning Technology Based on Closed Path Optimal Estimation Model [9], Dual Inertial Navigation Positioning Technology of Shearer [10], Multiple Inertial Navigation Redundancy Positioning Technology of Shearer [11], Shearer Positioning Technology Based on Heterogeneous Multi-source Information Fusion [12], Inertial Navigation and Ultra-broadband Fusion Positioning Technology of Shearer [13,14], Accuracy Improvement Method Based on Shearer Kinematic Constraint [15], Two-Point Method Based Deviation Compensation Algorithm Based on Two Points [2], and so on. The measurement error and installation deviation of INS have been investigated systematically.…”