采煤机惯性导航安装偏差对定位误差的影响

惯性导航装置安装于采煤机机体上，导航解算时以惯性导航装置坐标系代表采煤机坐标系，当其安装存在偏差时，惯性导航装置坐标系不能代表采煤机坐标系，进而会影响采煤机的定位精度。根据航位推算原理，建立了采煤机惯性导航安装偏差所引起的采煤机定位误差模型，获得惯性导航装置安装偏差与采煤机定位误差之间的关系。安装偏差中的航向偏差与俯仰偏差对采煤机定位误差的影响较大，横滚偏差对采煤机定位误差影响较小，并且定位误差主要集中在高度方向及垂直于采煤机运动的方向。构建的定位误差模型为确定惯性导航装置的安装精度要求与补偿安装偏差引入的采煤机定位误差提供了理论依据。

Effects of shearer inertial navigation installation noncoincidence on shearer positioning error

An inertial positioning device was mounted directly on a shearer body in this study.The inertial navigation device coordinates represented a shearer coordinates in navigation solution.When there is installation noncoincidence，the inertial navigation device coordinates cannot represent the shearer coordinates.This will affect the positioning accuracy of the shearer.A positioning error model of a shearer was built according to the principle of dead reckoning.With the model，the relationship between installation noncoincidence and positioning error was derived.In installation noncoincidence，the heading deviation and pitch deviation have a greater impact on the shearer positioning error.In contrast，the roll deviation has a lower impact.Also，the error mainly concentrated on the height direction and the direction perpendicular to the movement of shearer.The constructed error model provides a theoretical basis to determine the installation accuracy requirements of inertial navigation device and to compensate the shearer positioning errors introduced by installation noncoincident.