Positioning of coal mining equipments based on inertial navigation and odometer

Abstract

Research and application of inertial navigation technology in coal mines at home and abroad was analyzed, and the point was proposed that inertial-level strapdown fiber inertial navigation technology is suitable for positioning of coal mining equipment. Inertial navigation and odometer are combined to perform co-location and navigation, and mileage information is used to correct inertial navigation measurement data to improve precision of positioning and navigation. Method of dynamic initial alignment of inertial navigation, specific method of inertial navigation and odometer coordinate positioning, and Kalman filter equation used for error estimation, correction and compensation were given. Experimental results show that the maximum error of straightness measurement of working surface is 90 mm, the average error is 60 mm, and height measurement error is 20 mm after adopting the inertial navigation and odometer coordinate positioning technology, which meets accuracy require of straightness measurement of working face.

Keywords

• coal mining equipment
• inertial navigation
• odometer
• coordinated positioning
• integrated navigation
• fiber optic gyro
• straightness measurement