Device, method and equipment for estimating walking speed of coal mining equipment

The invention provides a method and equipment for estimating the walking speed of coal mining equipment, and the method comprises the steps: combining a three-axis accelerometer with an angle detection gyroscope, and calculating the walking speed of the coal mining equipment through the change of a gravity vector included angle and a vehicle angle according to the principle of the accelerometer; the method comprises the following steps: calculating measured data of a three-axis acceleration sensor to obtain related data of acceleration at a previous moment, combining a gyroscope with the acceleration data at the previous moment to obtain an estimated acceleration value at a current moment, fusing the acceleration data to obtain a current actual acceleration, and processing the acceleration. And obtaining the actual speed of the vehicle. According to the invention, the walking speed of the coal mining equipment can be accurately estimated, the operation condition of the coal mining equipment can be accurately