Research and experimental verification of attitude perception method of advanced hydraulic support based on information fusion technology

The spatial attitude dynamic monitoring method of advanced coupling support system integrates many advanced sensing sensors,and the single sensing sensor is relatively independent,which cannot fuse the spatial attitude dynamic information and relative position information feedback of advanced hydraulic support group caused by complex disturbance changes. Based on the principle of cooperative operation of multi-sensor system,combined with two typical spatial posture changes caused by the relative position adjustment of advanced hydraulic support group,frame shifting and roof and floor deformation,a posture perception method of advanced hydraulic support group based on information fusion technology is proposed. The ultrasonic ranging sensor is used to measure the dynamic information of the relative position between the advanced hydraulic support group and the roadway side. The spatial attitude change of the advanced hydraulic support group caused by the position adjustment process less than the safe distance is regarded as the dynamic change of the heading angle,so as to realize the spatial attitude perception of the position adjustment and the frame shifting process of the advanced hydraulic support group. The nine-axis attitude sensor is used to perceive the attitude dynamic change information of the top beam,the base and the linkage mechanism of the support. The Kalman filter algorithm is used to fuse the attitude data of each axis of a single attitude sensor to suppress the influence of noise in the measurement process. The adaptive weighted fusion algorithm is used to fuse the coaxial data with the same change trend of all attitude sensors,so as to realize the dynamic fusion perception of the spatial attitude data of the advanced hydraulic support group. Finally,the spatial attitude perception experiment platform of the advanced hydraulic support group is used to verify and analyze the proposed spatial attitude perception method of the advanced hydraulic support group. The experimental results show that the maximum error of roll angle fusion is 0.024 3°,the minimum error is 0.001 6°,and the average absolute error is 0.004 8°. The maximum error of yaw angle fusion is 0.027 6°,the minimum error is 0.001 2°,and the average absolute error is 0.004 7°. The accuracy of the proposed attitude perception method is verified.