Research on Relative Supporting Height Estimation of Complex Mobile Roof Support Machinery Based on Multi-sensor Kalman Fusion

摘要

In order to maximize the roof supporting quality and minimize roof fall risk, the roof supporting height was reviewed in this contribution. The concept of relative supporting height (RSH) was proposed base on massive related literature reviews, and a novel estimation approach based on D-H matrix through multisensor Kalman filter was provided to estimate RSH. Moreover, the architecture of proposed estimation approach was presented, local orientation estimator was described and multi-sensor Kalman filter was implemented. Finally, the experiment was elaborated using complex mobile roof support machinery (hydraulic support). The experiment results were analyzed and the estimated errors of fused approach and non-fused approach were compared. The comparison indicated that the proposed approach possesses excellent performance on RSH estimation in complex environment.