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

Table 4

The measured value of SINS and the tilt sensor and the fusion value (units: degrees).

Number	SINS	Tilt sensor	Fusion value
(1)	13.6	13.79	13.664
(2)	13.2	13.31	13.233
(3)	14.3	14.21	14.273
(4)	12.9	12.91	12.903
(5)	12.4	13.31	12.673
(6)	5.9	6.12	5.966
(7)	8.3	8.07	8.231
(8)	4.2	4.01	4.143
(9)	5.7	5.33	5.589
(10)	4.4	4.6	4.46
(11)	0.3	0.83	0.459
(12)	1.3	1.46	1.348
(13)	8.3	8.74	8.432
(14)	1.2	1.29	1.227
(15)	−0.7	0.38	−0.376
(16)	0	0.2	0.06
(17)	−5.6	−5.63	−5.609
(18)	1.3	0.56	1.078
(19)	5.5	5.28	5.434
(20)	0.2	0.07	0.161
(21)	0.6	0.08	0.444
(22)	0.4	0.16	0.328
(23)	−8.2	−8.8	−8.38
(24)	0.7	0.15	0.535
(25)	−1	−1.42	−1.126
(26)	−0.8	−1.21	−0.923
(27)	−1.8	−1.46	−1.698
(28)	−0.2	−0.73	−0.359
(29)	0.1	−0.32	−0.026
(30)	−0.9	−1.3	−1.02
(31)	−1.3	−1.45	−1.345
(32)	−2.2	−2.6	−2.32
(33)	−6.6	−7.08	−6.744
(34)	−1.2	−1.07	−1.161
(35)	−8.4	−8.72	−8.496