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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...
Autores principales: | , , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2017
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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. |
format | Online Article Text |
id | pubmed-6189806 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2017 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
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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