Research on combined positioning method of shearer onfully mechanized mining face of thin coal seam

In order to solve problems of real-time positioning and automatic navigation of shearer, a combined positioning method of shearer on fully mechanized mining face of thin coal seam was proposed for difficulty of meeting requirements of rapid, real-time and accurate positioning of shearer by using a single positioning technology. An inertial navigation parameter calculation system composed of accelerometer and gyroscope is used to measure three-axis acceleration and triaxial angular velocity data of shearer. These data are collected by sensors and then transmitted to the explosion-proof computer set in the intake entry through a serial port. The attitude matrix is solved by mathematical calculation, and the collected information is converted to angular velocity and acceleration in the coordinate system through the attitude matrix. The navigation information of position, speed, attitude of the shearer were obtained by integral calculation. In order to reduce cumulative errors caused by inertial navigation, a precise geographic model of fully mechanized mining face was established, and a reference digital map of shearer's trajectory was formed. Map matching technology is used to further improve accuracy of shearer's autonomous positioning. The simulation results prove reliability of the method.