A Scheme of MEMS-SINS Initial Alignment Aided by Laser Spot Perception System for the Boom-Type Roadheader
Joint Authors
Shen, Yang
Fu, Shichen
Wang, Pengjiang
Li, Rui
Lan, Yu
Ji, Xiaodong
Liu, Chao
Wu, Miao
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-06-17
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
The initial alignment is one of the difficult problems of the strapdown inertial navigation system based on the microelectromechanical systems (MEMS-SINS) applied to the navigation of boom-type roadheader under a coalmine.
To overcome the complex environment of the underground coalmine and the large noise of the MEMS gyroscope, the laser spot perception system (LSPS) was developed to provide the heading information of the roadheader to aid the initial alignment of the MEMS-SINS.
During the process of initial alignment, the differential equation of heading error is derived, the heading error is extended as a state variable, and a nonlinear initial alignment model aided by heading error is built up.
To cope with the time-varying noise statistics of MEMS-SINS in the working face of the coal mine roadway, a simplified strong tracking Unscented Kalman Filter (SST-UKF) algorithm is proposed by combining covariance matching technology with UKF.
In the calculation of the measurement prediction covariance and the cross covariance, the fading factor is introduced, respectively, to avoid the contradiction between the residuals before and after the introduction; according to the characteristics of the observation equation being a linear equation, it proves that the state prediction covariance matrix change does not affect the observation measurement and uses unscented transform (UT) only once in the state estimation and variance prediction; thus, the computational burden of the algorithm is reduced and the real-time performance is improved.
The simulation and onboard experiment results show that the proposed scheme can achieve horizontal alignment within 40 s and convergence azimuth misalignment angle to 0.9° within 450 s, which fully meets the requirements of MEMS-SINS initial alignment for underground coalmine roadheader.
American Psychological Association (APA)
Shen, Yang& Fu, Shichen& Wang, Pengjiang& Li, Rui& Lan, Yu& Ji, Xiaodong…[et al.]. 2020. A Scheme of MEMS-SINS Initial Alignment Aided by Laser Spot Perception System for the Boom-Type Roadheader. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1194198
Modern Language Association (MLA)
Shen, Yang…[et al.]. A Scheme of MEMS-SINS Initial Alignment Aided by Laser Spot Perception System for the Boom-Type Roadheader. Mathematical Problems in Engineering No. 2020 (2020), pp.1-13.
https://search.emarefa.net/detail/BIM-1194198
American Medical Association (AMA)
Shen, Yang& Fu, Shichen& Wang, Pengjiang& Li, Rui& Lan, Yu& Ji, Xiaodong…[et al.]. A Scheme of MEMS-SINS Initial Alignment Aided by Laser Spot Perception System for the Boom-Type Roadheader. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1194198
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1194198