A Scheme of MEMS-SINS Initial Alignment Aided by Laser Spot Perception System for the Boom-Type Roadheader

Table 1

Experimental statistics of LSPS.

S1 (mm)	S2 (mm)	L (mm)	Tan α	(°)	(°)	Difference (°)
292	353	500	0.12	6.84	6.77	0.07
671	784	500	0.22	12.41	12.35	0.06
175	200	500	0.05	2.86	2.89	−0.03
134	151	500	0.04	2.29	2.27	0.02
405	476	500	−0.13	−7.41	−7.36	−0.05
596	675	500	−0.17	−9.65	−9.73	0.08
913	1025	500	−0.23	−12.95	−13.06	0.11
241	302	500	−0.12	−6.84	−6.80	−0.04