ArticleMicromachines2017
Research on the Strategy of Motion Constraint-Aided ZUPT for the SINS Positioning System of a Shearer.
Article in Micromachines, 2017. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 11 papers.
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Who cites it
11 citing papers in PubMed.
- Research on the Three-Machines Perception System and Information Fusion Technology for Intelligent Work Faces.Sensors (Basel, Switzerland) · 2023Article
- Research on IMU-Assisted UWB-Based Positioning Algorithm in Underground Coal Mines.Micromachines · 2023Article
- Research on IMU Calibration Model Based on Polar Decomposition.Micromachines · 2023Article
- Research on the Shearer Positioning Method Based on the MEMS Inertial Sensors/Odometer Integrated Navigation System and RTS Smoother.Micromachines · 2021Article
- Coal Wall and Roof Segmentation in the Coal Mine Working Face Based on Dynamic Graph Convolution Neural Networks.ACS omega · 2021Article
- Low-Cost Real-Time PPP/INS Integration for Automated Land Vehicles.Sensors (Basel, Switzerland) · 2019Article
- Research on an Improved Method for Foot-Mounted Inertial/Magnetometer Pedestrian-Positioning Based on the Adaptive Gradient Descent Algorithm.Sensors (Basel, Switzerland) · 2018Article
- A MEMS IMU De-Noising Method Using Long Short Term Memory Recurrent Neural Networks (LSTM-RNN).Sensors (Basel, Switzerland) · 2018Article
- On-The-Fly Ambiguity Resolution Based on Double-Differential Square Observation.Sensors (Basel, Switzerland) · 2018Article
- Enhanced Pedestrian Navigation Based on Course Angle Error Estimation Using Cascaded Kalman Filters.Sensors (Basel, Switzerland) · 2018Article
- Ring Laser Gyro G-Sensitive Misalignment Calibration in Linear Vibration Environments.Sensors (Basel, Switzerland) · 2018Article
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Authors and funding
7 authors.
Funding
Abstract
The accurate measurement of position and orientation for shearers is a key technology in realizing an automated, fully-mechanized, coal mining face. Since Global Positioning System (GPS) signal cannot arrive at the coal mine underground, wireless sensor network positioning system cannot operate stably in the coal mine; thus a strap-down inertial navigation system (SINS) is used to measure the position and orientation of the shearer. Aiming at the problem of the SINS accumulative error, this paper proposes a positioning error correction method based on the motion constraint-aided SINS zero velocity updated (ZUPT) model. First of all, a stationary state detection model of the shearer is built with median filter based on the acceleration and angular rate measured by the SINS. Secondly, the motion of the shearer is analyzed using coal mining technology, then the motion constraint model of the shearer is established. In addition, the alternate action between the motion constraint model and the ZUPT model is analyzed at the process of movement and cessation of the shearer, respectively; hence, the motion constraint-aided SINS ZUPT model is built. Finally, by means of the experimental platform of the SINS for the shearer, the experimental results show that the maximum position error with the positioning model proposed in this paper is 1.6 m in 180 s, and increases by 92.0% and 88.1% compared with the single motion constraint model and single ZUPT model, respectively. It can then restrain the accumulative error of the SINS effectively.
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