一种采煤机组合定位系统及实验研究

综采工作面采煤机定位定姿技术，是液压支架跟机自动化和采煤机记忆截割的基础。采用捷联惯导监测采煤机姿态、速度及位置等运动参量，结合无线锚节点与移动节点间几何位置与局域信号对偶映射，建立了捷联惯导与无线传感器网络耦合模型，采用C＃＋MATLAB＋SQL交互式软件构建了采煤机组合定位系统，在采煤机、液压支架和刮板输送机“三机”平台上进行采煤机定位定姿性能研究。实验结果表明：捷联惯导能够有效地对采煤机姿态角度进行监测，但是长航时下采煤机位置存在累计误差，通过无线传感器网络位置对捷联惯导的位置进行周期性校正，组合定位系统下采煤机X和Y轴平均定位误差为0.118 m和0.268 m，能够得到采煤机实时可靠的位置和姿态。

Experimental study on combinative positioning system for shearer

Positioning and orientation technology is the basis of hydraulic supports automation machinery￣tracked and shearer memory cutting on mechanized mining face. Firstly,shearer attitude,velocity and position can be calcu￣lated by strap￣down inertial navigation system( SINS) . Meanwhile,the duality mapping between the local signal and geometric position is established using the anchor nodes and mobile node under Wireless Sensor Network(WSN). Then,the coupling model of SINS and WSN is built for real￣time integrated positioning system of shearer using inter￣active software of C#+MATLAB+SQL. Experimental research of position and attitude is performed on the three￣ma￣chine equipment. Results indicate that pure SINS can measure the shearer attitude effectively,while the shearer po￣sition exist the cumulative error with long￣term under pure SINS. The shearer position of WSN can be used to cycli￣cal correct the shearer position of SINS. The average position error of shearer are 0.118 m and 0.268 m in X and Y direction respectively,which means that the integrated SINS/WSN positioning system can track the position and atti￣tude of shearer effectively.