Path Correction of the Boom Road-Header in Coal Mining Based on State Estimation

Table 2

The process and measurement noises.

Noises	Specification
Process noise	Represented by the slipping rate which is assumed to obey the uniform distribution with boundary values at [0.1, 0.35]
Measurement noise	Includes two parts: one is the measurement position error which is assumed as the Gaussian noise with zero mean value and 3 cm variance; the other is the measurement orientation error which is assumed as the Gaussian noise with zero mean value and 1.5° variance