Combined initial alignment system and alignment method for strapdown inertial navigation system of underground coal mining machine

摘要

A combined initial alignment system and alignment method for a strapdown inertial navigation system of an underground coal mining machine. The system comprises a strapdown inertial navigation system (4) installed on a coal mining machine (1), a wireless sensor network mobile node (5), an inclination sensor (3), a geomagnetic field sensor (2) and anchor nodes (8) installed on a hydraulic support (7). After the coarse alignment of the strapdown inertial navigation (4) is performed, the wireless sensor network is used to detect location information about the coal mining machine (1), the inclination sensor (3) measures a roll and a pitch angle, and the geomagnetic field sensor (2) measures a yaw angle. A pose measurement equation of the coal mining machine (1) is constructed, and is combined with an error model after the coarse alignment of the strapdown inertial navigation (4) is performed, so as to establish a state equation; fusion filtering is carried out to obtain accurate location and pose information about the coal mining machine (1); and the precise alignment of the strapdown inertial navigation system (4) is conducted to complete initial alignment. The precise initial alignment of a strapdown inertial navigation combination under a severe enclosed environment in a coal mine is realized, and the precision of combination positioning under a large misalignment angle of a strapdown inertial navigation system of a coal mining machine is greatly improved.