{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,4]],"date-time":"2026-03-04T05:40:20Z","timestamp":1772602820526,"version":"3.50.1"},"reference-count":38,"publisher":"MDPI AG","issue":"18","license":[{"start":{"date-parts":[[2021,9,16]],"date-time":"2021-09-16T00:00:00Z","timestamp":1631750400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Accurate positioning of the shearer with a strapdown inertial navigation system (SINS) is the key technology to realize the automation of the longwall face. Unfortunately, the existing positioning methods have a strong dependence on the attitude accuracy of the SINS. The position errors gradually increase with the drift of the SINS attitude. To reduce the dependence on the SINS attitude and further increase the shearer positioning accuracy, this paper proposes a positioning method based on SINS and light detection and ranging (LiDAR) with velocity and absolute position constraints. A Kalman filter (KF) model based on these constraints was established. Simulation analysis shows that the attitude calibration between the shearer body, SINS and LiDAR, and the initial attitude alignment of the SINS are the keys to determining the shearer positioning accuracy. Even if there are small horizontal bends in the running track of the shearer and the features have small horizontal errors, an excellent positioning effect can still be obtained. In addition, four cutting processes were simulated with a reciprocating travel of 44.6 m and an advance distance of 1.2 m. Compared with the relative positioning method, the positioning accuracy of the proposed method was improved by 37%, 63%, 76%, and 69% from the first to the fourth cutting cycle, respectively, calculated by spherical error probable (SEP) values, and positioning accuracy had a lower dependence on the installation deflection angles between the SINS, the LiDAR, and the SINS attitude accuracy.<\/jats:p>","DOI":"10.3390\/rs13183708","type":"journal-article","created":{"date-parts":[[2021,9,22]],"date-time":"2021-09-22T03:47:35Z","timestamp":1632282455000},"page":"3708","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Research on the Shearer Positioning Method Based on SINS and LiDAR with Velocity and Absolute Position Constraints"],"prefix":"10.3390","volume":"13","author":[{"given":"Jiangtao","family":"Zheng","sequence":"first","affiliation":[{"name":"School of Automation, Northwestern Polytechnical University, Xi\u2019an 710072, China"}]},{"given":"Sihai","family":"Li","sequence":"additional","affiliation":[{"name":"School of Automation, Northwestern Polytechnical University, Xi\u2019an 710072, China"}]},{"given":"Shiming","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Automation, Northwestern Polytechnical University, Xi\u2019an 710072, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6895-7923","authenticated-orcid":false,"given":"Qiangwen","family":"Fu","sequence":"additional","affiliation":[{"name":"School of Automation, Northwestern Polytechnical University, Xi\u2019an 710072, China"}]}],"member":"1968","published-online":{"date-parts":[[2021,9,16]]},"reference":[{"key":"ref_1","first-page":"1","article-title":"Scientific conception of precision coal mining","volume":"42","author":"Yuan","year":"2018","journal-title":"J. China Coal Soc."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Brodny, J., and Tutak, M. (2018). Exposure to harmful dusts on fully powered longwall coal mines in Poland. Int. J. Environ. Res. Public Health, 15.","DOI":"10.3390\/ijerph15091846"},{"key":"ref_3","first-page":"950","article-title":"Theoretical framework and key technologies of underground ecological protection based on coal mine occupational health prevention","volume":"46","author":"Gu","year":"2021","journal-title":"J. China Coal Soc."},{"key":"ref_4","unstructured":"Brodny, J., Tutak, M., and Michalak, M. (June, January 30). A data warehouse as an indispensable tool to determine the effectiveness of the use of the longwall shearer. Proceedings of the 13th International Scientific Conference on Beyond Databases, Architectures and Structures, Ustron, Poland."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"32","DOI":"10.1007\/s10913-007-0005-7","article-title":"A study of mining-induced seismicity in Czech mines with longwall coal exploitation","volume":"43","author":"Holub","year":"2007","journal-title":"J. Min. Sci."},{"key":"ref_6","first-page":"1959","article-title":"Research on the architecture and key technologies of intelligent coal mining system","volume":"45","author":"Huang","year":"2020","journal-title":"J. China Coal Soc."},{"key":"ref_7","unstructured":"Reid, P.B., Dunn, M.T., Reid, D.C., and Ralston, J.C. (2010, January 1\u20133). Real world automation: New capabilities for underground longwall mining. Proceedings of the 2010 Australasian Conference on Robotics and Automation, Brisbane, QLD, Australia."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"5764","DOI":"10.1109\/ACCESS.2016.2602304","article-title":"Positioning accuracy evaluation for the collaborative automation of mining fleet with the support of memory cutting technology","volume":"4","author":"Luo","year":"2016","journal-title":"IEEE Access"},{"key":"ref_9","first-page":"118","article-title":"Principle and application of shearer position monitoring device","volume":"28","author":"Deng","year":"2007","journal-title":"Coal Mine Mach."},{"key":"ref_10","first-page":"157","article-title":"Shearer localization algorithm based on position detection of shearer by infrared","volume":"6","author":"Liu","year":"2013","journal-title":"Mech. Eng. Autom."},{"key":"ref_11","first-page":"1760","article-title":"Nodes localization algorithm for linear wireless sensor network in underground coal mine","volume":"35","author":"Tian","year":"2010","journal-title":"J. China Coal Soc."},{"key":"ref_12","first-page":"2173","article-title":"Scraper conveyor shape detection based on dead reckoning","volume":"42","author":"Wang","year":"2017","journal-title":"J. China Coal Soc."},{"key":"ref_13","first-page":"1","article-title":"Innovation and development of intelligent coal mining science and technology in China","volume":"42","author":"Wang","year":"2014","journal-title":"Coal Sci. Technol."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"2045","DOI":"10.1109\/ACCESS.2016.2565638","article-title":"Research on error compensation property of strapdown inertial navigation system using dynamic model of shearer","volume":"4","author":"Yang","year":"2016","journal-title":"IEEE Access"},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Semykina, I., Grigoryev, A., Gargayev, A., and Zavyalov, V. (2017, January 20\u201322). Unmanned Mine of the 21st Centuries. Proceedings of the Second Internation Innovative Mining Symposium, Kemerovo, Russia.","DOI":"10.1051\/e3sconf\/20172101016"},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Yang, H., Li, W., Luo, T., Liang, H., Zhang, H., Gu, Y., and Luo, C. (2017). Research on the strategy of motion constraint-aided ZUPT for the SINS positioning system of a shearer. Micromachines, 8.","DOI":"10.3390\/mi8110340"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"460415","DOI":"10.1155\/2014\/460415","article-title":"Integrated positioning for coal mining machinery in enclosed underground mine based on SINS\/WSN","volume":"2014","author":"Fan","year":"2014","journal-title":"Sci. World J."},{"key":"ref_18","first-page":"2514","article-title":"Shape detection of scraper conveyor based on shearer trajectory","volume":"40","author":"Zhang","year":"2015","journal-title":"J. China Coal Soc."},{"key":"ref_19","first-page":"52","article-title":"Positioning of coal mining equipment based on inertial navigation and odometer","volume":"44","author":"Zhang","year":"2018","journal-title":"Ind. Mine Autom."},{"key":"ref_20","unstructured":"Reid, D.C., Hainsworth, D.W., Ralston, J.C., and McPhee, R.J. (2003, January 8\u201310). Inertial navigation: Enabling technology for longwall mining automation. Proceedings of the Fourth International Conference of Computer Applications in the Minerals Industries (CAMI 2003), Calgary, AB, Canada."},{"key":"ref_21","first-page":"11","article-title":"Research on SINS\/DR integrated navigation system algorithm","volume":"21","author":"Sun","year":"2013","journal-title":"Electron. Des. Eng."},{"key":"ref_22","first-page":"789","article-title":"Effects of initial alignment error and installation noncoincidence on the shearer positioning accuracy and calibration method","volume":"42","author":"Zhang","year":"2017","journal-title":"J. China Coal Soc."},{"key":"ref_23","first-page":"389","article-title":"Research on error compensation of integrated vehicular navigation system","volume":"19","author":"Li","year":"2011","journal-title":"Comput. Meas. Control"},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"1468","DOI":"10.1109\/TASE.2018.2871758","article-title":"Dynamic precise positioning method of shearer based on closing path optimal estimation model","volume":"16","author":"Wang","year":"2019","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"14124","DOI":"10.1109\/ACCESS.2018.2889304","article-title":"Efficient laser-based 3D SLAM for coal mine rescue robots","volume":"7","author":"Li","year":"2019","journal-title":"IEEE Access"},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Kumar, S.S., Jabannavar, S.S., Shashank, K.R., Nagaraj, M., and Shreenivas, B. (2017, January 22\u201324). Localization and tracking of unmanned vehicles for underground mines. Proceedings of the 2017 2nd IEEE International Conference on Electrical, Computer and Communication Technologies, Coimbatore, Tamil Nadu, India.","DOI":"10.1109\/ICECCT.2017.8117958"},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"758","DOI":"10.1002\/rob.21504","article-title":"Efficient large-scale three-dimensional mobile mapping for underground mines","volume":"31","author":"Zlot","year":"2014","journal-title":"J. Field Robot."},{"key":"ref_28","doi-asserted-by":"crossref","unstructured":"Azizi, M., and Tarshizi, E. (2016, January 2\u20136). Autonomous control and navigation of a lab-scale underground mining haul truck using LiDAR sensor and triangulation\u2014feasibility study. Proceedings of the IEEE Industry Applications Society Annual Meeting, Portland, OR, USA.","DOI":"10.1109\/IAS.2016.7731923"},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"733","DOI":"10.1016\/j.ijmst.2017.07.027","article-title":"Longwall automation: Trends, challenges and opportunities","volume":"27","author":"Ralston","year":"2017","journal-title":"Int. J. Min. Sci. Technol."},{"key":"ref_30","first-page":"6616090","article-title":"A LiDAR-aided inertial positioning approach for a longwall shearer in underground coal mining","volume":"2021","author":"Zheng","year":"2021","journal-title":"Math. Probl. Eng."},{"key":"ref_31","unstructured":"Lehmann, C., and Konietzky, H.H. (2015). Geomechanical Issues in Longwall Mining\u2014An Introduction, TU Bergakademie Freiberg, Institut f\u00fcr Geotechnik."},{"key":"ref_32","unstructured":"Einicke, G. The application of smoothing within longwall mine navigation, In Proceedings of the International Global Navigation Satellite System Society IGNSS Symposium, Surfers Paradise, Australia, 1\u20133 December 2009."},{"key":"ref_33","unstructured":"Du, J.P., and Meng, X.Y. (2019). Coal Mining Science, China University of Mining and Technology Press. [3nd ed.]."},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"Sarvrood, Y.B., Hosseinyalamdary, S., and Gao, Y. (2016). Visual-LiDAR odometry aided by reduced IMU. ISPRS Int. J. Geo-Inf., 5.","DOI":"10.3390\/ijgi5010003"},{"key":"ref_35","unstructured":"Yan, G.M., and Weng, J. (2019). Strapdown Inertial Navigation Algorithm and Integrated Navigation Principle, Northwestern Polytechnical University Press. [1nd ed.]."},{"key":"ref_36","unstructured":"(2021, July 25). MTi Documentation Overview. Available online: https:\/\/mtidocs.xsens.com\/output-specifications$sensor-data-performance-specifications."},{"key":"ref_37","unstructured":"(2021, July 25). 2D LiDAR Sensors LMS5xx. Available online: https:\/\/www.sick.com\/cn\/en\/detection-and-ranging-solutions\/2d-lidar-sensors\/lms5xx\/lms500-20000-pro\/p\/p216241."},{"key":"ref_38","first-page":"28","article-title":"Research of intelligentized coal mining mode and key technologies","volume":"42","author":"Tian","year":"2016","journal-title":"Ind. Mine Autom."}],"container-title":["Remote Sensing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2072-4292\/13\/18\/3708\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T07:00:49Z","timestamp":1760166049000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2072-4292\/13\/18\/3708"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,9,16]]},"references-count":38,"journal-issue":{"issue":"18","published-online":{"date-parts":[[2021,9]]}},"alternative-id":["rs13183708"],"URL":"https:\/\/doi.org\/10.3390\/rs13183708","relation":{},"ISSN":["2072-4292"],"issn-type":[{"value":"2072-4292","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,9,16]]}}}