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

Table 5

Comparison of experimental results of shearer positioning (units: a middle trough length).

Theoretical value	Shearer body pitch angle measured by the tilt sensors	Shearer body pitch angle measured by SINS	Shearer body pitch angle measured according to the fusion value
Theoretical value measured by the tilt sensors	0.73	0.59	0.42
Theoretical value measured by SINS	0.67	0.49	0.45
Theoretical value measured according to the fusion value	0.53	0.47	0.38