基于惯性导航/无线传感器网络组合的采煤机定位方法研究

采煤机是井下综采工作面的重要设备，采煤机精确定位技术是煤矿生产装备自动化的关键技术之一。为了实现高精度定位满足井下综采自动化作业需求，提出了基于惯性导航/无线传感器网络组合的采煤机定位方法。采用锚节点安置于液压支架上，移动节点与惯导固定安装于采煤机上的配置方案，利用位置已知的锚节点测距信息估计和修正惯导误差，同时实施对安置于推进过程中的液压支架上锚节点（未知节点）位置信息的实时校准，从而达到采煤机高精度定位、无线传感器网络节点动态自动调节的目的。通过试验对所提方法的有效性进行了验证，结果表明，所釆用方法对釆煤机轨迹具有良好跟踪性能，水平定位误差不超过1.57 cm/h。

Shearer positioning method based on inertial navigation/wireless sensor network integrated positioning

Shearer is an important equipment of the underground comprehensive mining. The precise positioning technology of the shearer is one of the key technologies for the automation of coal mining production equipment. In order to achieve high-precision positioning and meet the requirements of automated underground mining operations, this paper proposes a shearer positioning method based on the integration of inertial navigation and wireless sensor network. The configuration scheme is realized by installing anchor nodes on the hydraulic support, and fixing the mobile nodes and inertial navigation on the coal mining machine. The ranging information of the anchor nodes with known position is used to estimate and correct the inertial navigation errors. Meanwhile, the real-time calibration of the position information of the anchor nodes (unknown nodes) installed on the hydraulic support during the propulsion process is calibrated in real time to achieve the high-precision positioning of shearer and the dynamic automatic adjustment of wireless sensor network nodes. The effectiveness of the proposed method is experimentally verified. The results show that the proposed method has good tracking performance for locating shearer, with the horizontal positioning error of less than 1.57 cm/h.