Journal
IEEE ACCESS
Volume 7, Issue -, Pages 36736-36747Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2019.2904309
Keywords
Strap-down inertial navigation system; initial alignment; shearer; dynamic model of shearer; error compensation strategy
Categories
Funding
- National Natural Science Foundation of China [U1610111]
- Key Research and Development Project of Xuzhou [KC17014]
- Priority Academic Program Development of Jiangsu Higher Education Institutions under Grant PAPD
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The strap-down inertial navigation system (SINS) is a commonly used sensor for autonomous underground navigation that can be used for shearer positioning under a coal mine. To overcome the performance degradation of the existing initial alignment algorithm based on an inertial frame with strong vibration conditions in underground coal mines, a novel initial alignment compensation strategy based on the dynamic model of the shearer is presented. This strategy mainly compensates for the linear vibration caused by the harsh environment based on the dynamic model of the shearer. Meanwhile, this strategy can effectively estimate the linear velocity of the shearer's fuselage and avoid the error caused by the system disturbance assumption. According to the shearer dynamics model, the linear velocity spectrum of the shearer's fuselage was determined. Then, based on the vibration characteristics, the initial alignment compensation model of the SINS was derived and the initial attitude angle was obtained. The simulation and experimental results show that the proposed compensation strategy can effectively improve the convergence speed and accuracy of the initial alignment and lay a foundation for the unmanned work of the shearer.
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