A geomagnetic field based positioning technique for underground mines

A geomagnetic field based positioning technique is proposed for underground mining environments. The proposed technique utilizes the anomalies of the geomagnetic field present in underground environments. The main source of the magnetic anomalies is the complex distribution of metallic minerals such as iron ore. The distribution of metallic minerals produces unique spatial magnetic patterns in underground mines which can be utilized for positioning. Preliminary results are presented using the data collected from Pyhäsalmi, which is an underground copper and zinc mine located in central Finland. The data used in the experiments were collected from tunnels located approximately 1400 meters below the surface. The obtained results suggest that the proposed positioning technique can provide pose estimates with an accuracy of ≈1.5meters. The proposed technique can potentially provide a robust, and a cost-efficient positioning solution for underground environments with minor infrastructure requirements.