[10] [10] HAO S,WANG S,MALEKIAN R,et al.A geometry surveying model and instrument of a scraper conveyor in unmanned longwall mining faces［J］.IEEE Access,2017,5:4095-4103.

[11] [11] MU M,ZHAO L.A data fusion algorithm of GNSS/INS/Odometer integrated system in consideration of total odometer errors［C］//Jeju,Korea: 2021 21st International Conference on Control,Automation and Systems (ICCAS), IEEE,2021:1093-1098.

[12] [12] HAN S,WANG J.Integrated GPS/INS navigation system with dual-rate Kalman filter［J］.GPS Solutions,2012,16(3):389-404.