School of Mechanical and Electrical Engineering,China University of Mining & Technology lntelligent Mining Equipment Collaborative Innovation Center,China University of Mining &Technology ShanxiTZ Coal Mine Whole-set Equipment Co.,Ltd.

为提高采煤机三维惯性定位精度,介绍了一种基于捷联惯性导航系统(SINS)与轴编码器组合的采煤机定位方法,构建了采煤机定位方程。利用捷联惯性导航系统测出采煤机的实时姿态,轴编码器测出采煤机的位移增量,根据采煤机的实时姿态,将采煤机坐标系下的位移增量变换到导航坐标系下累加得到采煤机位置。该方法不仅能自主实时确定采煤机的三维位置,并且可有效减小纯惯性导航中的累积误差。同时,通过井上试验和井下试验验证了该定位方法的可行性,评价了该定位方法的定位精度。

in order to improve the acuracy of the shearer three-dlimensional in rital posiioning a shearer posiioning method based on the combination of encoderand stra -down in rial navigaton system(SINS) was proposed and the po.sttoning equations was buili.The reatime atitde and displacement increment of the shearerwere respectively measured with the SINS and encoder.The postion of the shearer was calculated through ransfoming the displacemen increment of the shearer fronshearer coordinate frame to navigation coordinate frame. Ths positioning method can accurately measure the thre-dimnensional postin of alon eal hearet and efe:tively reduce the accumulated errors of the pure-inrtal navigation.To verifythe feasitility and evauate the accuracy of postining method throughloorator tes andfield tests.

国家高技术研究发展计划(863计划)资助项目(2013AA06A411)；中国矿业大学重大项目培育基金资助项目(2012ZDP09)；