采煤机作为综采工作面的重要设备，其位姿检测是实现自动割煤的关键技术。在综 采工作面，实现“三机”联动、记忆截割等技术的前提是采煤机位置和运行姿态的确定。 针对目前研究和使用的齿轮计数、红外对射等检测采煤机位姿方法无法实时的在三维方 向上进行采煤机位姿的确定。本文选用捷联惯导检测采煤机位置和运行姿态，对捷联惯 导在采煤机上应用的位姿解算算法进行研究。 通过对采煤机截割工艺和位姿影响因素进行分析，确定采煤机位姿为三维定位，在 分析捷联惯导基本原理的基础上，说明了捷联惯导在采煤机位姿检测中应用原理。针对 如何应用惯性元件采集到的数据进行采煤机位姿解算做了研究，在定义坐标系的基础上， 仿真比较了姿态矩阵的更新算法，确定四阶龙格库塔法适合解算采煤机动态姿态角，给 出采煤机位姿解算的基本方程和捷联惯导在采煤机上进行初始对准的方法；对采煤机动 态姿态角、速度和位置进行解算，用matlab 模拟采煤机运动轨迹，解算出惯性元件的输 出作为位姿算法仿真的输入，进行采煤机位姿解算算法仿真；搭建简易模拟试验台进行 实验验证，利用小车模拟采煤机在可弯曲轨道上运动，采集惯性元件测量数据进行位姿 解算，测量小车在关键节点实际的运动轨迹和姿态角数据拟合曲线，与解算数据得到的 曲线进行对比。 仿真和实验结果表明该算法可以用于解算采煤机位置和运行姿态。

The shearer is an important equipment in the fully mechanized working face, the position and posture detection is the key technology to realize the automatic cutting coal. To determine running posture and position of coal winning machine is the premise of realizing "three machines" linkage,memory and cutting technology in fully mechanized coal face. For the current research and use of gear counting method,infrared correlation method can not real-time,in three-dimensional direction for the determination of shearer position and posture, this article chooses the strapdown inertial navigation to test the position and attitude of sheaer, studying the algorithm of shearer with the application of the strapdown inertial navigation. Through analysis cutting process and influence factors of position and attitude of sheaer,determine the sheaer position and posture are three-dimensional positioning,on the basis of analyzing the principle of the strapdown inertial navigation,illustrates the principle the strapdown inertial navigation to test sheaer position and posture ;aiming at the research of how to use the data collected of inertial elements for calculating sheaer position and posture ,on the basis of defining coordinate system,simulate and compare the updating algorithms of attitude matrix,determineFourth order runge kutta method is suitable for calculating dynamic posture of shearer,gives the basic calculation methods of coal winning position and attitude,and explain the strapdown inertial navigation method for initial alignment in the coal mining machine;Calculating dynamic attitude Angle,speed and position of shearer,use Matlab simulate the trajectory of shearer,calculating the inertial components outputs as the input to simulate the position and posture algorithm of sheaer; set up the simple simulation test-bed to experiment validation,using the car simulate the movement of sheaer on flexible orbit,collect the measurement data of inertial components to calculae position and posture,measuring the car key nodes in the actual trajectory and attitude Angle fitting curve,compared with the computed data curve. Simulation and experimental results show that the algorithms can be used for calculating the position and running posture of shearer .