High-Precision Positioning Method of Coal Shearer in the Underground Environment Based on Rail Kinematics Model

The high-precision positioning of the shearer is the key technology to realize the automation of longwall mining. Since mine is a Global Position System (GPS)-denied environment, highly autonomous Inertial Navigation System (INS)/odometer integrated navigation has been widely used. At present, the s...

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Autores principales:	Xiaowei Xu, Jizhou Lai, Pin Lv, Junqing Lu, Shiyu Bai, Huafeng Hu
Formato:	article
Lenguaje:	EN
Publicado:	IEEE 2021
Materias:	Underground environment shearer rail kinematics model information fusion autonomous navigation fault detection Electrical engineering. Electronics. Nuclear engineering TK1-9971
Acceso en línea:	https://doaj.org/article/18ab22b098874f4aac4d8d5ae7bf9c92
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id	oai:doaj.org-article:18ab22b098874f4aac4d8d5ae7bf9c92
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spelling	oai:doaj.org-article:18ab22b098874f4aac4d8d5ae7bf9c922021-11-17T00:00:25ZHigh-Precision Positioning Method of Coal Shearer in the Underground Environment Based on Rail Kinematics Model2169-353610.1109/ACCESS.2021.3125501https://doaj.org/article/18ab22b098874f4aac4d8d5ae7bf9c922021-01-01T00:00:00Zhttps://ieeexplore.ieee.org/document/9600857/https://doaj.org/toc/2169-3536The high-precision positioning of the shearer is the key technology to realize the automation of longwall mining. Since mine is a Global Position System (GPS)-denied environment, highly autonomous Inertial Navigation System (INS)/odometer integrated navigation has been widely used. At present, the shearer positioning method based on INS/odometer has been challenging to meet the requirements of long-time and high-precision mining. Aiming at the high-precision navigation in the complex mining environment, this paper constructs a comprehensive rail kinematics model of the shearer that does not rely on external sensors. By analyzing the kinematic characteristics of the shearer and the scraper conveyor during the longwall mining process, a method of information fusion and navigation system fault diagnosis based on the assistance of the shearer rail kinematics model was proposed. According to the working principle of the shearer rails and hydraulic supports, the characteristics of the trajectory deviation caused by the sensor fault of the hydraulic support are analyzed. Combined with the engineering requirements of shearer mining, the model fault identification was carried out by the fading probability ratio detection algorithm. The simulation results show that the proposed algorithm effectively improves the positioning of shearer accuracy in multiple cutting cycles. At the same time, it avoids the influence of the rail deviation caused by the rail kinematics model fault on the positioning of the shearer.Xiaowei XuJizhou LaiPin LvJunqing LuShiyu BaiHuafeng HuIEEEarticleUnderground environmentshearerrail kinematics modelinformation fusionautonomous navigationfault detectionElectrical engineering. Electronics. Nuclear engineeringTK1-9971ENIEEE Access, Vol 9, Pp 151198-151208 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Underground environment shearer rail kinematics model information fusion autonomous navigation fault detection Electrical engineering. Electronics. Nuclear engineering TK1-9971
spellingShingle	Underground environment shearer rail kinematics model information fusion autonomous navigation fault detection Electrical engineering. Electronics. Nuclear engineering TK1-9971 Xiaowei Xu Jizhou Lai Pin Lv Junqing Lu Shiyu Bai Huafeng Hu High-Precision Positioning Method of Coal Shearer in the Underground Environment Based on Rail Kinematics Model
description	The high-precision positioning of the shearer is the key technology to realize the automation of longwall mining. Since mine is a Global Position System (GPS)-denied environment, highly autonomous Inertial Navigation System (INS)/odometer integrated navigation has been widely used. At present, the shearer positioning method based on INS/odometer has been challenging to meet the requirements of long-time and high-precision mining. Aiming at the high-precision navigation in the complex mining environment, this paper constructs a comprehensive rail kinematics model of the shearer that does not rely on external sensors. By analyzing the kinematic characteristics of the shearer and the scraper conveyor during the longwall mining process, a method of information fusion and navigation system fault diagnosis based on the assistance of the shearer rail kinematics model was proposed. According to the working principle of the shearer rails and hydraulic supports, the characteristics of the trajectory deviation caused by the sensor fault of the hydraulic support are analyzed. Combined with the engineering requirements of shearer mining, the model fault identification was carried out by the fading probability ratio detection algorithm. The simulation results show that the proposed algorithm effectively improves the positioning of shearer accuracy in multiple cutting cycles. At the same time, it avoids the influence of the rail deviation caused by the rail kinematics model fault on the positioning of the shearer.
format	article
author	Xiaowei Xu Jizhou Lai Pin Lv Junqing Lu Shiyu Bai Huafeng Hu
author_facet	Xiaowei Xu Jizhou Lai Pin Lv Junqing Lu Shiyu Bai Huafeng Hu
author_sort	Xiaowei Xu
title	High-Precision Positioning Method of Coal Shearer in the Underground Environment Based on Rail Kinematics Model
title_short	High-Precision Positioning Method of Coal Shearer in the Underground Environment Based on Rail Kinematics Model
title_full	High-Precision Positioning Method of Coal Shearer in the Underground Environment Based on Rail Kinematics Model
title_fullStr	High-Precision Positioning Method of Coal Shearer in the Underground Environment Based on Rail Kinematics Model
title_full_unstemmed	High-Precision Positioning Method of Coal Shearer in the Underground Environment Based on Rail Kinematics Model
title_sort	high-precision positioning method of coal shearer in the underground environment based on rail kinematics model
publisher	IEEE
publishDate	2021
url	https://doaj.org/article/18ab22b098874f4aac4d8d5ae7bf9c92
work_keys_str_mv	AT xiaoweixu highprecisionpositioningmethodofcoalshearerintheundergroundenvironmentbasedonrailkinematicsmodel AT jizhoulai highprecisionpositioningmethodofcoalshearerintheundergroundenvironmentbasedonrailkinematicsmodel AT pinlv highprecisionpositioningmethodofcoalshearerintheundergroundenvironmentbasedonrailkinematicsmodel AT junqinglu highprecisionpositioningmethodofcoalshearerintheundergroundenvironmentbasedonrailkinematicsmodel AT shiyubai highprecisionpositioningmethodofcoalshearerintheundergroundenvironmentbasedonrailkinematicsmodel AT huafenghu highprecisionpositioningmethodofcoalshearerintheundergroundenvironmentbasedonrailkinematicsmodel
_version_	1718426032687546368

High-Precision Positioning Method of Coal Shearer in the Underground Environment Based on Rail Kinematics Model

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