Mining machine orientation control based on inertial, gravitational, and magnetic sensors

A computer-assisted mining machine requires subsystems for machine intelligence, navigation positioning, and computer control. One subsystem, an onboard, multisensor, computer-based heading system that would be responsible for determining and controlling machine heading is described. A directional gyroscope provides heading (yaw), fluxgate sensors provide compass data, and gravity-referenced clinometers give machine pitch and roll information. The system utilizes a dedicated microcontroller networked to an external system of computers. Tram commands, which are supplied to the network from external computers, are executed by the onboard system. Sensor feedback is employed for closed-loop control of machine heading by controlling pivots and turns. The operating limitations and error sources of the system are presented, along with implementation of closed-loop control of machine yaw. Results from mine machine tests are used to exhibit the various sensor shortcomings and evaluate heading control during tests of machine pivots and turns