A LiDAR-Aided Inertial Positioning Approach for a Longwall Shearer in Underground Coal Mining

Table 1

The modes of direction relationship between the point features and the -axis.

Direction relationship	Forward moving	Backward moving
Mod 1	Only in zone B	Only in zone A
Mod 2	Only in zone B	Only in zone B
Mod 3	Only in zone B	Both in zone A and B
Mod 4	Both in zone A and B	Only in zone A
Mod 5	Both in zone A and B	Only in zone B
Mod 6	Both in zone A and B	Both in zone A and B
Mod 7	Only in zone A	Only in zone A
Mod 8	Only in zone A	Only in zone B
Mod 9	Only in zone A	Both in zone A and B