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

Table 2

Specifications of the INS and LiDAR.

Gyroscope	Bias repeatability
	Random walk
Accelerometer	Bias repeatability
	Random walk
LiDAR	Range systematic error model coefficient	0.0006
	Range systematic error model coefficient	0.035
	Angle systematic error model coefficient	0.00004
	Angle systematic error model coefficient	0.9925
	Angle systematic error model coefficient	0.0531