Research on the Compensation Strategy of the Initial Alignment of the SINS Based on the Dynamic Model of the Shearer.

The strap-down inertial navigation system (SINS) is a commonly used sensor for autonomous underground navigation that can be used for shearer positioning under a coal mine. To overcome the performance degradation of the existing initial alignment algorithm based on an inertial frame with strong vibration conditions in underground coal mines, a novel initial alignment compensation strategy based on the dynamic model of the shearer is presented. This strategy mainly compensates for the linear vibration caused by the harsh environment based on the dynamic model of the shearer. Meanwhile, this strategy can effectively estimate the linear velocity of the shearer's fuselage and avoid the error caused by the system disturbance assumption. According to the shearer dynamics model, the linear velocity spectrum of the shearer's fuselage was determined. Then, based on the vibration characteristics, the initial alignment compensation model of the SINS was derived and the initial attitude angle was obtained. The simulation and experimental results show that the proposed compensation strategy can effectively improve the convergence speed and accuracy of the initial alignment and lay a foundation for the unmanned work of the shearer.