Precise Shearer Positioning Technology Using Shearer Motion Constraint and Magnetometer Aided SINS

Table 1

Performance index of MTi-30.

	Bias instability	Noise density	Nonlinearity
Gyroscope	18°/h	0.1°/s/√Hz	0.03%FS
Accelerometer	40 μg	80 μg√Hz	0.03%FS
Magnetometer	0.5 mG	200 μG/√Hz	0.1%FS