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Research on the Strategy of Motion Constraint-Aided ZUPT for the SINS Positioning System of a Shearer

The accurate measurement of position and orientation for shearers is a key technology in realizing an automated, fully-mechanized, coal mining face. Since Global Positioning System (GPS) signal cannot arrive at the coal mine underground, wireless sensor network positioning system cannot operate stab...

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Autores principales: Yang, Hai, Li, Wei, Luo, Tao, Luo, Chengming, Liang, Haibo, Zhang, He, Gu, Yaxiong
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2017
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6189806/
https://www.ncbi.nlm.nih.gov/pubmed/30400529
http://dx.doi.org/10.3390/mi8110340
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author Yang, Hai
Li, Wei
Luo, Tao
Luo, Chengming
Liang, Haibo
Zhang, He
Gu, Yaxiong
author_facet Yang, Hai
Li, Wei
Luo, Tao
Luo, Chengming
Liang, Haibo
Zhang, He
Gu, Yaxiong
author_sort Yang, Hai
collection PubMed
description The accurate measurement of position and orientation for shearers is a key technology in realizing an automated, fully-mechanized, coal mining face. Since Global Positioning System (GPS) signal cannot arrive at the coal mine underground, wireless sensor network positioning system cannot operate stably in the coal mine; thus a strap-down inertial navigation system (SINS) is used to measure the position and orientation of the shearer. Aiming at the problem of the SINS accumulative error, this paper proposes a positioning error correction method based on the motion constraint-aided SINS zero velocity updated (ZUPT) model. First of all, a stationary state detection model of the shearer is built with median filter based on the acceleration and angular rate measured by the SINS. Secondly, the motion of the shearer is analyzed using coal mining technology, then the motion constraint model of the shearer is established. In addition, the alternate action between the motion constraint model and the ZUPT model is analyzed at the process of movement and cessation of the shearer, respectively; hence, the motion constraint-aided SINS ZUPT model is built. Finally, by means of the experimental platform of the SINS for the shearer, the experimental results show that the maximum position error with the positioning model proposed in this paper is 1.6 m in 180 s, and increases by 92.0% and 88.1% compared with the single motion constraint model and single ZUPT model, respectively. It can then restrain the accumulative error of the SINS effectively.
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spelling pubmed-61898062018-11-01 Research on the Strategy of Motion Constraint-Aided ZUPT for the SINS Positioning System of a Shearer Yang, Hai Li, Wei Luo, Tao Luo, Chengming Liang, Haibo Zhang, He Gu, Yaxiong Micromachines (Basel) Article The accurate measurement of position and orientation for shearers is a key technology in realizing an automated, fully-mechanized, coal mining face. Since Global Positioning System (GPS) signal cannot arrive at the coal mine underground, wireless sensor network positioning system cannot operate stably in the coal mine; thus a strap-down inertial navigation system (SINS) is used to measure the position and orientation of the shearer. Aiming at the problem of the SINS accumulative error, this paper proposes a positioning error correction method based on the motion constraint-aided SINS zero velocity updated (ZUPT) model. First of all, a stationary state detection model of the shearer is built with median filter based on the acceleration and angular rate measured by the SINS. Secondly, the motion of the shearer is analyzed using coal mining technology, then the motion constraint model of the shearer is established. In addition, the alternate action between the motion constraint model and the ZUPT model is analyzed at the process of movement and cessation of the shearer, respectively; hence, the motion constraint-aided SINS ZUPT model is built. Finally, by means of the experimental platform of the SINS for the shearer, the experimental results show that the maximum position error with the positioning model proposed in this paper is 1.6 m in 180 s, and increases by 92.0% and 88.1% compared with the single motion constraint model and single ZUPT model, respectively. It can then restrain the accumulative error of the SINS effectively. MDPI 2017-11-22 /pmc/articles/PMC6189806/ /pubmed/30400529 http://dx.doi.org/10.3390/mi8110340 Text en © 2017 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Yang, Hai
Li, Wei
Luo, Tao
Luo, Chengming
Liang, Haibo
Zhang, He
Gu, Yaxiong
Research on the Strategy of Motion Constraint-Aided ZUPT for the SINS Positioning System of a Shearer
title Research on the Strategy of Motion Constraint-Aided ZUPT for the SINS Positioning System of a Shearer
title_full Research on the Strategy of Motion Constraint-Aided ZUPT for the SINS Positioning System of a Shearer
title_fullStr Research on the Strategy of Motion Constraint-Aided ZUPT for the SINS Positioning System of a Shearer
title_full_unstemmed Research on the Strategy of Motion Constraint-Aided ZUPT for the SINS Positioning System of a Shearer
title_short Research on the Strategy of Motion Constraint-Aided ZUPT for the SINS Positioning System of a Shearer
title_sort research on the strategy of motion constraint-aided zupt for the sins positioning system of a shearer
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6189806/
https://www.ncbi.nlm.nih.gov/pubmed/30400529
http://dx.doi.org/10.3390/mi8110340
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