scholarly journals A Mathematical Model and Error Analysis of Shearer Cutting Path Based on Its Attitude

2018 ◽  
Vol 2018 ◽  
pp. 1-8
Author(s):  
Shi-bo Wang ◽  
Shijia Wang ◽  
Zhaoliang Ge
Keyword(s):  
Mathematical Model ◽  
Error Analysis ◽  
Inertial Navigation System ◽  
Coordinate Frame ◽  
Medium Thickness ◽  
Position Errors ◽  
Working Face ◽  
Coordinate Position ◽  
Thin Seam ◽  
Cutting Path

The horizon control system is the key technology in the automation of a shearer. The achievement of accurate shearer cutting path plays an important role for horizon control. A mathematical model of cutting path in the local geographic coordinate frame was built. Error analysis based on genetic algorithm (GA) was studied to guarantee the accuracy of the shearer cutting path. Parameters from a MG1000/2660-WD shearer and data from a working face were used to obtain the shearer cutting path with reference to the local geographic coordinate frame. Also, with error analysis based on GA, the desired sensors were chosen, which allowed coordinate position errors of a shearer’s cutting path to be less than 0.01 m. The desired accuracies of the inertial navigation system and encoders mounted on the different shearers used in thin seam, medium-thickness seam, and thick seam were calculated.

scholarly journals Bionic Integrated Positioning Mechanism Based on Bioinspired Polarization Compass and Inertial Navigation System

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1055
Author(s):  
Qingyun Zhang ◽  
Jian Yang ◽  
Panpan Huang ◽  
Xin Liu ◽  
Shanpeng Wang ◽  
...  
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
System Model ◽  
Degree Of Polarization ◽  
Positioning System ◽  
Integration Model ◽  
Position Errors ◽  
Model Combining ◽  
Polarization Compass

In this paper, to address the problem of positioning accumulative errors of the inertial navigation system (INS), a bionic autonomous positioning mechanism integrating INS with a bioinspired polarization compass is proposed. In addition, the bioinspired positioning system hardware and the integration model are also presented. Concerned with the technical issue of the accuracy and environmental adaptability of the integrated positioning system, the sun elevation calculating method based on the degree of polarization (DoP) and direction of polarization (E-vector) is presented. Moreover, to compensate for the latitude and longitude errors of INS, the bioinspired positioning system model combining the polarization compass and INS is established. Finally, the positioning performance of the proposed bioinspired positioning system model was validated via outdoor experiments. The results indicate that the proposed system can compensate for the position errors of INS with satisfactory performance.

An Improved and Efficient Algorithm for SINS/GPS/Doppler Integrated Navigation Systems

2012 ◽  
Vol 245 ◽  
pp. 323-329 ◽  
Author(s):  
Muhammad Ushaq ◽  
Jian Cheng Fang
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Sensor ◽  
Inertial Navigation ◽  
Measurement Unit ◽  
Navigation Systems ◽  
Integrated Navigation ◽  
Efficient Manner ◽  
Position Errors

Inertial navigation systems exhibit position errors that tend to grow with time in an unbounded mode. This degradation is due, in part, to errors in the initialization of the inertial measurement unit and inertial sensor imperfections such as accelerometer biases and gyroscope drifts. Mitigation to this growth and bounding the errors is to update the inertial navigation system periodically with external position (and/or velocity, attitude) fixes. The synergistic effect is obtained through external measurements updating the inertial navigation system using Kalman filter algorithm. It is a natural requirement that the inertial data and data from the external aids be combined in an optimal and efficient manner. In this paper an efficient method for integration of Strapdown Inertia Navigation System (SINS), Global Positioning System (GPS) and Doppler radar is presented using a centralized linear Kalman filter by treating vector measurements with uncorrelated errors as scalars. Two main advantages have been obtained with this improved scheme. First is the reduced computation time as the number of arithmetic computation required for processing a vector as successive scalar measurements is significantly less than the corresponding number of operations for vector measurement processing. Second advantage is the improved numerical accuracy as avoiding matrix inversion in the implementation of covariance equations improves the robustness of the covariance computations against round off errors.

Constant Speed Motion Simulation and Error Analysis of Planar Non-Circular Curve Parts

2012 ◽  
Vol 220-223 ◽  
pp. 1559-1563
Author(s):  
Rui Wu ◽  
Li Bao ◽  
Yuan Kui Xu
Keyword(s):  
Mathematical Model ◽  
Error Analysis ◽  
Relative Error ◽  
Plane Curve ◽  
Simulation System ◽  
Constant Speed ◽  
Motion Simulation ◽  
Production Practice ◽  
The Mathematical Model ◽  
Circular Curve

The relative direction for a constant speed can be determined according to the planar non-circular curve parts. To establish the mathematical model, a constant speed motion simulation system is designed. The parameters of (vH=5mm/s, δ<3") is commonly used for the simulation system to simulate the movement of drawing the error curve. The results show that by controlling the movement of the plane curve parts in mathematical model can derive the basic constant speed, the relative error of constant speed is less than 3%, it provides a reliable bias when apply to production practice.

scholarly journals Gob-Side Entry Retaining Involving Bag Filling Material for Support Wall Construction

2020 ◽  
Vol 12 (16) ◽  
pp. 6353
Author(s):  
Zhaowen Du ◽  
Shaojie Chen ◽  
Junbiao Ma ◽  
Zhongping Guo ◽  
Dawei Yin
Keyword(s):  
Field Tests ◽  
Filling Material ◽  
Construction Technology ◽  
Working Face ◽  
Support Resistance ◽  
Pillar Mining ◽  
High Production ◽  
Wall Construction ◽  
Thin Seam ◽  
Seam Mining

Gob-side entry retaining, also termed as non-pillar mining, plays an important role in saving coal resources, high production and efficiency, extending the service life of mine and improving the investment benefit. Herein, a gob-side entry retaining method involving the use of bag filling material for wall construction is proposed based on the thin seam mining characteristics. First, a gob-side entry retaining mechanical model is established, and the side support resistance of the 8101 working face is calculated. The mechanical properties of the bag material are investigated through experiments, and the construction technology of the gob-side entry retaining approach involving the use of bag filling material for wall construction is introduced. The deformation on the two sides, the roof and floor of the roadway, are simulated via numerical methods and monitored during field tests. The results show a small control range for the deformations and a good roadway retention effect, thereby proving the feasibility of the bag filling material for wall construction. This study provides a reference for the development of gob-side entry retaining mining for thin coal seams.

Study on ZUPT Technology Applied in SINS

2012 ◽  
Vol 546-547 ◽  
pp. 1360-1365
Author(s):  
Xing Xing Dai ◽  
Ling Xie ◽  
Yu Liang Mao ◽  
Chun Lei Song
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Error Control ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Velocity Error ◽  
Zero Velocity ◽  
Position Errors

Zero Velocity Update (ZUPT) is an essential method of error control in Stapdown Inertial Navigation System (SINS), which is extensively used because of its cheapness and efficiency. ZUPT uses the output of velocity error of SINS when the carrier is parking, to update the errors of other items in SINS. This method can improve the position and direction precisions of SINS. Kalman filter is chosen as the method of ZUPT to correct the velocity and position errors in SINS in this article. The method of ZUPT based on Kalman filter is applied to the vehicle experiment. The results of the vehicle experiment indicate that the ZUPT based on Kalman filter is efficient and powerful in error control, and the Kalman filter designed based on SINS is proper.

scholarly journals Determination of Space Debris Coordinates by Means of a Space Service Vehicle

2016 ◽  
Vol 3 (1) ◽  
pp. 31-37 ◽  
Author(s):  
Vasyl Kondratiuk ◽  
Еduard Kovalevskiy ◽  
Svitlana Ilnytska
Keyword(s):  
Inertial Navigation System ◽  
Space Debris ◽  
Initial Conditions ◽  
Space Vehicle ◽  
Satellite System ◽  
Coordinate Frame ◽  
Space Industry ◽  
Global Character ◽  
Global Navigation Satellite

Abstract The problem of space debris utilization is quite relevant nowadays and has a global character. The space industry experts from all over the world are working on the task of removing space debris. This article proposes the method of determining space debris coordinates by means of the airborne equipment of a space service vehicle. The set of airborne equipment includes a global navigation satellite system receiver, an inertial navigation system and a laser radar. To study the accuracy characteristics of the proposed method under different initial conditions a series of simulations was performed. They showed that the accuracy of determining space debris coordinates becomes higher with the reduction of the distance between the debris and space service vehicle. Stringent requirements for the accuracy of determining the orientation of the coordinate frame of the space vehicle are essential for providing the accuracy characteristics of the method.

Transmission Error Analysis of External Gear Drive Based on Form and Position Errors

2014 ◽  
Vol 614 ◽  
pp. 36-39
Author(s):  
Ke Ke Li ◽  
Yu Shu Bian ◽  
Bing Dong Liu
Keyword(s):  
Error Analysis ◽  
Statistical Method ◽  
Probability Distributions ◽  
Transmission Error ◽  
Calculation Formula ◽  
Key Factors ◽  
Factors Affecting ◽  
Gear Drive ◽  
Position Errors ◽  
Gear Mechanism

The key factors affecting the transmission error of gear mechanism are analyzed and the calculation formula of transmission error based on parts’ form and position errors is derived in this paper. Since the errors have different kinds of probability distributions, this paper calculate the expectation and variance of transmission error by statistical method, gives final transmission error value, and verify it by an example.

Determination Method of the Supporting Intensity of Fully-Mechanized Face in Deeply Inclined Medium-Thickness Seam

2014 ◽  
Vol 522-524 ◽  
pp. 1386-1389
Author(s):  
Zhong Ping Guo ◽  
Hui Qiang Duan ◽  
Fan Feng ◽  
Gui Yin Zhang
Keyword(s):  
Coal Seam ◽  
Theoretical Basis ◽  
Surrounding Rock ◽  
Medium Thickness ◽  
Working Face ◽  
Displacement Thickness ◽  
Face Length ◽  
Working Resistance ◽  
Theory Calculation ◽  
The Relationship

According to the occurrence conditions of deeply inclined coal seam of 81206 working face in Yanya coal mine, methods including transmission rock theory calculation and numerical calculation based on the relationship between supports and surrounding rock are used to calculate and analyze. The proper working resistance of support is 5979.2kN and the supporting intensity is 0.8~0.95MPa. The regression equation associated with roof subsidence displacement , thickness of the coal seam, working face length and supporting intensity is accomplished, which provides theoretical basis for the support selection.

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