Height measurement method of hydraulic support based on multi-sensor data fusio

In view of problems that height measurement of hydraulic support on fully mechanized coal mining face was difficult and measurement result was not accurate, taking two-column shield hydraulic support as an example, expression of hydraulic support height was derived which was calculated by use of hydraulic support attitude angle measured by tilt angle sensor. In order to reduce cumulative error of hydraulic support height measurement caused by angle measurement error of the tilt angle sensor, a height measurement method of hydraulic support based on multi-sensor data fusion was proposed. The method uses batch estimation algorithm and self-adaptive weighting algorithm to fuse hydraulic support height data respectively calculated by angle measured by tilt angle sensor at shield beam or front link. The experimental results show that height measurement error of the method is not more than 0.3 mm for 623.2 mm hydraulic support prototype, and accuracy is improved 1 mm in comparison with height measurement based on single tilt angle sensor.