Dynamic zero-velocity update technology to shearer inertial navigation positioning

Shearer inertial navigation positioning based on strap down inertial navigation and encoder is a feasible posi- tioning technology for a longwall mining face. Inertial navigation provides attitude angles and encoder provides speed. The shearer inertial navigation positioning calculates the position of east,north and down using the dead reckoning al- gorithm. Based on the elimination of deterministic deviation,a kalman filter model was built according to inertial navi- gation error equation and the non-holonomic constraints of dynamic zero-velocity up-data technology (DZUPT) in or- der to improve the positioning accuracy. The state vectors were the platform angular errors of east,north and down. The measurement vectors were the speeds of the horizontal and vertical direction in the shearer coordinate. The kalman fil- ter model was verified through field tests. In the third navigation,the maximum errors in the east and north decreased respectively from 0. 639 7 m,0. 856 7 m to 0. 456 4 m,0. 594 2 m. In the fourth navigation,the maximum errors in the east and north decreased respectively from 0. 644 4 m,0. 910 6 m to 0. 466 5 m,0. 603 0 m. The positioning accuracy in the east and north increased by 30% .