Calibration method and device of positioning and attitude determination system for laser-scanning based coal mining machine

The invention discloses a calibration method and a calibration device of a positioning and attitude determination system for a laser-scanning based coal mining machine, and belongs to a positioning method and a positioning device of the coal mining machine. The device is characterized in that more than two laser signal receiving modules and a data processing storage module are mounted on the coal mining machine, and the opposite positions of the laser signal receiving modules and the coal mining machine are recorded; the data processing storage module is connected with the laser signal receiving modules; rotating table systems are installed on hydraulic supports, and a distance between the two hydraulic supports is less than 50m. The method is characterized in that based on a laser scanning technology, rotating tables are driven by a servo motor; the laser scans all around, and when the laser signal receiving modules receive laser signals, the position and attitude information, calculated by a time information signal processing module, of the coal mining machine is recorded, and the attitude information of the coal mining machine is transmitted to a coal mining machine control center through a signal transmission module. The scanning accuracy of the calibration device is within the range of 50 meters and can reach the centimeter level, so that the requirement on the positioning and attitude determination accuracy of the coal mining machine can be completely met.