An Initial Alignment Technology of Shearer Inertial Navigation Positioning Based on a Fruit Fly-Optimized Kalman Filter Algorithm

摘要

The shearer is one of the core equipment of the fully mechanized coal face. The fast and accurate positioning of the shearer is the prerequisite for its memory cutting, intelligent height adjustment, and intelligent speed adjustment. Inertial navigation technology has many advantages such as strong autonomy, good concealment, and high reliability. The accurate positioning of the shearer based on inertial navigation can not only determine its operating position but also measure the direction of movement. However, when inertial navigation is used to locate the shearer in motion, the cumulative errors will occur, resulting in inaccurate positioning of the shearer. The accuracy of the initial alignment is directly related to the working precision of the inertial navigation system. In order to improve the efficiency and accuracy of initial alignment, an improved initial alignment method is proposed in this paper, which uses a fruit fly-optimized Kalman filter algorithm for initial alignment. In order to improve the filtering performance, the fruit fly-optimized Kalman filter algorithm uses an improved fruit fly algorithm to realize the adaptive optimization of system noise variance. Finally, simulation and experiments verify the effectiveness of the fruit fly-optimized Kalman filter algorithm.