High accuracy inertial navigation for underground mining machinery

Dunn, Mark; Thompson, J.P.; Reid, Peter; Reid, David

doi:10.1109/coase.2012.6386402

Cited by 13 publications

(9 citation statements)

References 3 publications

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“…To address the harsh positioning environment of underground mines and solve the problem of large-scale cluster positioning in mines, some scholars have used mature positioning methods in other fields for mine positioning, mainly inertial navigation positioning and visual navigation positioning, but inertial navigation devices require continuous calibration in use, while visual navigation has high requirements for the stability of light, and the high price also completely restricts the large-scale application of the above devices [3,4]. Moreover, most of the current underground positioning technologies are based on the mutual independence of positioning targets.…”

Section: Introductionmentioning

confidence: 99%

Height information aided 3D real‐time large‐scale underground user positioning

Tang

Zhang

et al. 2022

IET Radar Sonar & Navi

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Due to the cost of inertial navigation and visual navigation equipment and lake of satellite navigation signals, they cannot be used in large-scale underground mining environment. To solve this problem, this study proposes a large-scale underground 3D real-time positioning method with seam height assistance. This method uses the ultra wide band positioning base station as the core and is combined with seam height information to build a factor graph confidence transfer model to realise 3D positioning. The simulation results show that the proposed real-time method is superior to the existing algorithms in positioning accuracy and can meet the needs of large-scale underground users.

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Section: Introductionmentioning

confidence: 99%

Height information aided 3D real‐time large‐scale underground user positioning

Tang

Zhang

et al. 2022

IET Radar Sonar & Navi

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“…Exploring autonomous and auxiliary technology has become the first problem to be solved. Zero-velocity update (ZUPT)-aided MIMU is a simple and robust integrated st [9,10]. However, it requires short and frequent stops.…”

Section: Introductionmentioning

confidence: 99%

“…The position error of the MIMU/odometer integrated system repeats "increa crease" changes along with the reciprocating operation of the shearer [22], which typical case of the Rauch-Tung-Striebel (RTS) smoother. RTS smoothing is a tech Zero-velocity update (ZUPT)-aided MIMU is a simple and robust integrated strategy [9,10]. However, it requires short and frequent stops.…”

Section: Introductionmentioning

confidence: 99%

Research on the Shearer Positioning Method Based on the MEMS Inertial Sensors/Odometer Integrated Navigation System and RTS Smoother

Zheng

Liu

et al. 2021

Micromachines

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The shearer positioning method with an inertial measurement unit and the odometer is feasible in the longwall coal-mining process. However, the positioning accuracy will continue to decrease, especially for the micro-electromechanical inertial measurement unit (MIMU). In order to further improve the positioning accuracy of the shearer without adding other external sensors, the positioning method of the Rauch-Tung-Striebel (RTS) smoother-aided MIMU and odometer is proposed. A Kalman filter (KF) with the velocity and position measurements, which are provided by the odometer and closing path optimal estimation model (CPOEM), respectively, is established. The observability analysis is discussed to study the possible conditions under which the error states of KF can be estimated. A RTS smoother with the above-mentioned KF as the forward filter is built. Finally, the experiments of simulating the movement of the shearer through a mobile carrier were carried out, with a longitudinal movement distance of 44.6 m and a lateral advance distance of 1.2 m. The results show that the proposed method can effectively improve the positioning accuracy. In addition, the odometer scale factor and mounting angles can be estimated in real time.

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“…However, this method only obtained the one-dimensional position of the shearer, which couldn't meet the need of three-dimensional positioning. Dunn et al [13], [14] used a Doppler radar to aid INS. The FIGURE 1.…”

Section: Introductionmentioning

confidence: 99%

Improving the Shearer Positioning Accuracy Using the Shearer Motion Constraints in Longwall Panels

Shijia

2020

IEEE Access

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The shearer positioning method with an inertial navigation system (INS) is feasible in a longwall mining face. However, INS error greatly increases with time, which reduces the shearer positioning accuracy. This study aims to improve the shearer positioning accuracy using the shearer motion constraints. Firstly, according to the longwall mining method, two constraints on the shearer velocity and position were obtained. Then, velocity constraint information and position constraint information were modeled to obtain the observation equations in the filter. In order to improve the shearer positioning accuracy, an information filter was utilized to integrate the velocity constraint information and position constraint information. Finally, an experiment was performed to validate the effectiveness of the proposed algorithm. The result showed that the shearer positioning accuracy improved by 56% in the east and 54% in the north. INDEX TERMS Shearer positioning, inertial navigation system, information filter.

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High accuracy inertial navigation for underground mining machinery

Cited by 13 publications

References 3 publications

Height information aided 3D real‐time large‐scale underground user positioning

Height information aided 3D real‐time large‐scale underground user positioning

Research on the Shearer Positioning Method Based on the MEMS Inertial Sensors/Odometer Integrated Navigation System and RTS Smoother

Improving the Shearer Positioning Accuracy Using the Shearer Motion Constraints in Longwall Panels

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