Coal mine fully mechanized coal mining face automatic straightening method based on hydraulic support inertial navigation system

The invention provides a coal mine fully mechanized coal mining face automatic straightening method based on a hydraulic support inertial navigation system, which comprises a support controller, an inertial navigation device, a stroke sensor and a crossheading main control computer, and is used for executing the following steps: aligning a hydraulic support of a working face before use, and constructing a two-dimensional plane datum line; calibrating the inertial navigation devices, enabling the coordinate system of each inertial navigation device to be uniform in direction, and establishing an initial coordinate system; in the normal coal mining process of the working face, the inertial navigation devices on the hydraulic supports report the advancing distances of the hydraulic supports where the inertial navigation devices are located relative to the datum line; and when the frame moving action is executed every time, the controller of the hydraulic support moves the frame according to the position informat