智采工作面装备运行的2个核心问题是控制工作面开采装备在煤层中自适应截割、保持采运机组在连续推进过程中的直线度。解决这2个问题必须实时获取采煤机在工作面空间的准确定位信息。通过对比分析国内外采煤机定位系统的技术原理和硬件架构，发现开发采煤机定位误差消减算法是在井下GPS拒止环境下保证采煤机长时定位精度的关键途径。根据采煤机定位原理可知，采煤机定位误差主要来源于惯性导航安装偏差和惯性导航系统随机误差。惯性导航安装偏差是确定性误差，采用基于两点法的确定性偏差补偿算法可使定位误差减小99.12%。针对采煤机运行状态的非完整性约束特点，基于采煤机运动学模型的闭合路径优化算法和动态零速校正算法分别使采煤机定位误差降低了50%和30%。采用信息滤波模型将闭合路径优化算法和动态零速校正算法进一步融合，抑制了惯性导航系统航向角的漂移，抑制了惯性导航系统航向角的漂移。利用UWB基站群自主迁移方法实现了采煤机在工作面端头定位，采用VB-UKF算法平滑采煤机定位过程中时变的测量噪声，增加了运动轨迹的平滑性，使得IMU/UWB紧融合的定位轨迹更加精确，为惯性导航系统提供校准的基准。基于采煤机定位轨迹的刮板输送机轨迹检测方法实现了刮板输送机形状在线监测，为综采工作面弯曲度自动化检测和校直提供理论基础和试验数据。

There are two key problems affecting the intelligent operation of a longwall mining face,which are the mining equipment self-adaptive cutting in a coal seam,and the straightness of equipment in the process of continuous mining.  In order to solve these two problems,the shearer accurate position information in longwall mining face must be obtained in real time.  By analyzing the technical principle and hardware framework of shearer positioning system,it is found that the development of an error-reduction algorithm is the key to guarantee the shearer long time positioning accuracy in underground coal mine without GPS.  According to shearer positioning principle,the positioning error is mainly caused by installation deviation and random drift error of inertial navigation system.  The installation deviation is a deterministic error,and the calibration algorithm based on two-point method can reduce the positioning error by 99.12%.  Aiming at the non holonomic constraints of shearer motion state,the closing path optimal estimation algorithm and dynamic zero velocity update algorithm based on the shearer kinematics model reduce the positioning error by 50% and 30%,respectively.  The information filter model is used to integrate the closing path optimal estimation algorithm and dynamic zero velocity update algorithm,and the drift error of heading angle is suppressed.  The automatic migration approach of UWB base station group realizes the shearer positioning at the end of the coal mine working face.  The VB-UKF algorithm is implemented to smooth the time-varying measurement noise in the positioning process of the shearer,ameliorating the smoothness of the motion trajectory,which makes the localization trajectory of IMU/UWB tight fusion more accurate and provides the calibration benchmark for the inertial navigation system.  The trajectory detection method of scraper conveyor based on shearer positioning trajectory realizes the online shape monitoring of scraper conveyor,and provides the theoretical basis and experiment data for automation curvature detection and face alignment  in longwall mining face.

1 采煤机自主定位技术现状

   1.1 澳大利亚LASC采煤机定位技术

   1.2 笔者团队的采煤机定位技术

   1.3 郑州煤矿机械集团股份有限公司研发的光纤惯导定位技术定位技术

   1.4 北京龙田华远公司研发的采煤机自主定位技术

2 采煤机自主惯导定位算法

   2.1 基于两点法的确定性偏差补偿算法

   2.2 随机误差消减算法

3 采煤机惯导与UWB组合定位技术

4 刮板输送机轨迹定位监测

5 结论