Effects of initial alignment error and installation noncoincidence on the shearer positioning accuracy and calibration method

Dead reckoning (DR) algorithm based on inertial measurement unit and odometer is a feasible positioning method for a shearer in a longwall mining face. An error model of DR algorithm was developed in this paper. The effect of initial alignment error angle and installation noncoincidence angle of inertial measurement unit on the positioning accuracy was analyzed. A calibration method of the two deviation angles with the two-point method was based on the similarity of the dead reckoning and actual tracks. It was verified through filed tests. The spherical error probable (SEP) radius of the shearer position was 12. 062 m and 0. 104 m before and after the calibration of two deviation an- gles. The positioning error was maintained as a same value in each running cycle when a shearer cut a coalwall back and forth.