A Joint Positioning and Attitude Solving Method for Shearer and Scraper Conveyor under Complex Conditions

Table 1

Determination rule of the contacting mode.

Mode	Meaning	Condition	Calculation angle
0	Full contact, the supporting sliding shoe is fully located in a middle trough	(1); (2) Na ≠ Nb and FloatHA[Na] = FloatHA[Nb]	Na
10	Semicontact, in the range of the middle trough Na	(1) Na ≠ Nb and Na = No1, FloatHA[Na] > FloatHA[Nb]	Na
11	Semicontact, in the range of the middle trough Nb	(1) Na ≠ Nb and Nb = No1, FloatHA[Na] > FloatHA[Nb]	Nb
2	Suspending	(1) Na ≠ Nb and FloatHA[Na] < FloatHA[Nb]	Suspending solving algorithm