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

Table 3

Maximum position errors of each cutting cycle.

Cutting cycle	Traditional DR			Improved DR			Proposed approach
	E (m)	N (m)	H (m)	E (m)	N (m)	H (m)	E (m)	N (m)	H (m)
First	−0.210	0.087	0.005	−0.210	0.080	0.005	−0.081	0.125	0.075
Second	−0.212	0.073	0.001	−0.212	0.081	0.001	−0.028	0.166	0.082
Third	−0.500	0.107	−0.115	−0.332	0.107	−0.103	−0.188	0.188	0.074
Fourth	−0.499	0.106	−0.121	−0.330	0.097	−0.110	−0.111	0.149	0.071
Fifth	−0.632	0.177	−0.328	−0.453	0.181	−0.260	0.128	0.163	0.054
Sixth	−0.636	0.188	−0.336	−0.457	0.178	−0.268	0.108	0.133	0.047