The autonomous positioning of tunneling equipment is the key to intellectualization and robotization of a tunneling face. In this paper, a method based on simultaneous localization and mapping (SLAM) to estimate the body pose of a roadheader and build a navigation map of a roadway is presented. In terms of pose estimation, an RGB-D camera is used to collect images, and a pose calculation model of a roadheader is established based on random sample consensus (RANSAC) and iterative closest point (ICP); constructing a pose graph optimization model with closed-loop constraints. An iterative equation based on Levenberg–Marquadt is derived, which can achieve the optimal estimation of the body pose. In terms of mapping, LiDAR is used to experimentally construct the grid map based on open-source algorithms, such as Gmapping, Cartographer, Karto, and Hector. A point cloud map, octree map, and compound map are experimentally constructed based on the open-source library RTAB-MAP. By setting parameters, such as the expansion radius of an obstacle and the updating frequency of the map, a cost map for the navigation of a roadheader is established. Combined with algorithms, such as Dijskra and timed-elastic-band, simulation experiments show that the combination of octree map and cost map can support global path planning and local obstacle avoidance.

In order to ensure the measurement accuracy of high-acceleration vibration sensors used in engineering applications, it is necessary to calibrate their key performance parameters at high acceleration. The high-acceleration vibration calibration system produces high-acceleration vibration by utilizing the resonance amplification principle; however, the resonance frequency of the resonant beam changes with increasing amplitude, affected by the influences of nonlinear and other factors. In this study, a phase-locked resonance tracking control method based on the phase resonance principle is proposed to accurately and quickly track the resonance frequency of the resonant beam, which can improve the accuracy and stability of resonance control. The resonant beam is able to produce stable vibration with an amplitude exceeding 7500 m/s² by phase-locking and tracking the resonant frequency. A calibration system built with this method can provide stable vibration with an amplitude of 500–10,000 m/s² in the range of 80–4000 Hz. Comparison experiments with the commonly used amplitude iteration amplification method demonstrate that the proposed method can give an acceleration stability control index of less than 0.5% and a resonance tracking time of less than 0.1 s.