Orientation of mining technology machines based on microelectromechanical systems

Authors: Korikov A. M., Mescheryakov Ya. E.

Annotation: The orientation parameters of mining process machines (MMM), determined using MEMS sensors, in practice are sensitive to external influences and very noisy, and in some cases there is an orientation error accumulating. An effective way to level noise and cumulative orientation errors is to use specialized digital signal processing (DSP) algorithms by combining (complexing) the readings of several MEMS sensors. Effective filtering of MEMS sensor signals is the basis for improving the accuracy of orientation of the functional elements of geological and technical measures. Comparative analysis of complexing filters highlights the Madgwick filter in the MARG implementation, compared to other filters. This implementation of the filter compensates for magnetic distor- tion, corrects the magnetic declination, and levels the drift of the MEMS gyro along the yaw axis. For electric geological and technical measures built according to the Ward-Leonard scheme, a method is proposed for the functioning of the Madgwick complexing filter in the implementation of MARG by simulating the operation of a magnetometer using a global navigation satellite system.

Keywords: mining technological machines, microelectromechanical systems, inertial measuring module, kalman filter, madgwick filter, monitoring and positioning system, automatization, magnetometer imitation, navigation satellite system