Analysis of the Influence of RTS Smoothing Algorithm on the Straightness Control Accuracy of Scraper Conveyor
WANG Kai
Abstract：A high-precision dynamic straightening scheme was proposed to solve the problem of accumulated errors in the inertial navigation positioning of coal winning machines,which leads to the inability to straighten the scraper conveyor.This scheme uses a combination of Strapdown Inertial Navigation(SINS)and odometer(OD)navigation to collect attitude,position and other data,and processes it through RTS smoothing algorithm to complete feedback correction of the optimal output state.Through theoretical calculations,simulation,and long-distance positioning experiments,it was finally concluded that the RTS smoothing algorithm significantly reduces position errors and greatly improves positioning accuracy compared to not using the smoothing algorithm.At the same time,under long-distance operation,the positioning accuracy in all directions was still improved by more than 45％,which has strong application value.
Keywords：strapdown inertial navigation system(SINS)odometer(OD)RTS smoothing algorithmstraightnessstraightening
Publication Date：2025-08-30
Online Publishing Date：2025-09-23(First online date of this platform, not the publication date of the document)
Pages：6( 54-58,63 )