Strapdown inertial navigation curve measurement system of full-section roadheader in coal mine

In view of problems of bad visibility and difficulty in real-time measurement existed in deviation curve measurement system of coal mine tunneling roadway, a strapdown inertial navigation curve measurement system of full-section roadheader in coal mine was designed. The strapdown inertial navigation system uses strapdown attitude update algorithm to acquire attitude angle of the roadheader in real time.The travel sensor is installed on the roadheader and used to measure travel value pushed forward by each cutting section. The attitude angle and travel value were plug into the actual roadway curve algorithm to get the actual roadway tunneling curve, and tunneling deviation curve can be obtained by comparing with the design axis of roadway, the deviation of roadway tunneling is corrected in time according to the tunneling deviation curve, so as to ensure engineering quality. The experimental results show that the system can realize fast and real-time high-precision curve monitoring, and can accurately calculate and measure the curve deviation of full-section roadheader in coal mine. When the tunneling is 5 m, the maximum deviation is about 23.2 mm, which meets requirements of coal mine tunneling curve accuracy.