Self-positioning system of the shearer in unmanned workface

Based on the advantages of navigation system which accessed to navigation information source on inertial instruments,didn't require external sources of information and radiate energy to external.The current situations about shearer self-positioning system at home and abroad were studied.Underground mining environment,shearer movement routes and important factors to determine shearer trajectory were analyzed.The shearer movement features in different movement routes were identified,and complexity of dynamic model to meet the requirements was established.MEMS gyroscope and accelerometer sensors were selected for self-positioning system by which laboratory simulation test was done.The results show that inertial sensor error is the main factor to make self-positioning system accuracy low.It is proposed that making use of integrated technologies of environmental features,road signs and map-matching technology based on GIS reduces the integration system error,and improve the accuracy of self-positioning.