Research on attitude monitoring method of advanced hydraulic support based on multi-sensor fusion

The fusion technology of wide-angle ultrasonic sensor and inclination sensor is applied to the attitude monitoring of advanced hydraulic support in the harsh underground environment. Firstly, the measurement model based on the kinematics of advanced hydraulic support is established, and then the calculation algorithm of yaw angle and roll angle based on ultrasonic ranging data is proposed. Finally, the platform of attitude monitoring system is built to realize the attitude monitoring of advanced hydraulic support based on multi-sensor. The field test results show that the maximum root mean square error of distance measurement is 4.36 mm; the maximum root mean square error of the roll angle is 0.12 degrees; the maximum root mean square error of the yaw angle is 0.20 degrees. The test results verify the accuracy and stability of attitude monitoring system experimental platform for the advanced hydraulic support.