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

<table class="table-group" id="tab3"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td class="align_left"> </td><td class="align_center"> </td><td class="align_center">Tilt sensor</td><td class="align_center">SINS</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td class="align_left" rowspan="2">Group 1</td><td class="align_center">Mean value</td><td class="align_center">13.794</td><td class="align_center">13.592</td></tr><tr><td class="align_center">Mean square deviation</td><td class="align_center">0.0088</td><td class="align_center">0.0042</td></tr><tr><td class="align_left" rowspan="2">Group 2</td><td class="align_center">Mean value</td><td class="align_center">13.790</td><td class="align_center">13.61</td></tr><tr><td class="align_center">Mean square deviation</td><td class="align_center">0.0071</td><td class="align_center">0.0081</td></tr><tr><td class="align_left" rowspan="2">Batch estimation algorithm</td><td class="align_center">Fusion value</td><td class="align_center">13.792</td><td class="align_center">13.594</td></tr><tr><td class="align_center">Variance</td><td class="align_center"><span style="width: 47.0011ptpx;"><svg height="8.69875pt" id="M109" style="vertical-align:-0.3499298pt" version="1.1" viewbox="-0.0498162 -8.34882 47.0011 8.69875" width="47.0011pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M153 550H386L412 615L406 623H120L82 318C104 327 142 338 184 338C294 338 347 275 347 187C347 112 305 39 221 39C160 39 119 71 97 89C88 97 80 96 71 90C59 80 50 67 49 57C48 45 52 36 66 23C80 9 123 -12 169 -12C221 -11 288 15 342 59C403 109 431 165 431 225C431 308 366 395 238 395C212 395 165 379 127 364L153 550Z" id="g113-54"></path></g><g transform="matrix(.013,0,0,-0.013,6.24,0)"><path d="M113 -12C146 -12 170 11 170 46C170 78 146 103 114 103S58 78 58 46C58 11 82 -12 113 -12Z" id="g113-47"></path></g><g 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184 338C294 338 347 275 347 187C347 112 305 39 221 39C160 39 119 71 97 89C88 97 80 96 71 90C59 80 50 67 49 57C48 45 52 36 66 23C80 9 123 -12 169 -12C221 -11 288 15 342 59C403 109 431 165 431 225C431 308 366 395 238 395C212 395 165 379 127 364L153 550Z" id="g113-54"></path></g></svg></span></td></tr><tr><td class="align_left" rowspan="2">Adaptive weighted fusion algorithm</td><td class="align_center">Fusion value</td><td class="align_center" colspan="2">13.664</td></tr><tr><td class="align_center">Weighting factor</td><td class="align_center">0.354</td><td class="align_center">0.646</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Measured values for the SINS and tilt sensor and fusion values (units: degrees).

Mathematical Problems in Engineering

tab3

Table 3

Table 3: A Joint Positioning and Attitude Solving Method for Shearer and Scraper Conveyor under Complex Conditions 