Experimental Research of Triple Inertial Navigation System Shearer Positioning.

In order to improve the positioning accuracy of shearers, the overground experimental device based on the positioning model of TINS (Triple Inertial Navigation System) was built. The influence of TINS installation parameters on positioning accuracy was discussed through two sets of experiments: the inter-INS (Inertial Navigation System) distances influence experiments and the tri-INS plane spatial position influence experiments. The results show that the positioning accuracy of the shearer is improved to a different extent under the two sets of experimental conditions. When the inter-INS distances are 0.2 m, the positioning accuracy is the highest and the positioning accuracy improvement effect is also the best. When the negative plane α3 is 45°, the positioning accuracy is the highest, and the positioning accuracy improvement effect is also the best. The analysis shows that the main factor affecting the positioning accuracy is the precision of the evaluated values outputs of TINS from EKF (Extended Kalman Filter). Considering the positioning accuracy, equipment installation convenience and so on, the optimum installation parameters are 90° (horizontal installation) α3 for the positive plane and 0.2 m inter-INS distances.