Title :
Positioning in Underground Mines
Author :
Hawkins, Warren ; Daku, Brian L F ; Prugger, Arnfinn F.
Author_Institution :
TRLabs Saskatoon, Saskatchewan Univ., Saskatoon, Sask.
Abstract :
In this paper the problem of estimating the position of a user relative to a map of an underground mine is explored. A positioning system consisting of a set of sensors and a digital mine map is proposed and modeled using a state space representation. The non-linear positioning system uses a particle filter to estimate the state and thus the position. The particle filter based positioning system is implemented in a MATLAB simulation. Simulation results are presented for various filter configurations demonstrating this is a promising system for mine positioning
Keywords :
mining; particle filtering (numerical methods); state estimation; state-space methods; MATLAB simulation; digital mine map; nonlinear positioning system; particle filter; position estimation; state estimation; state space representation; underground mine position; Acceleration; Accelerometers; Equations; Ground penetrating radar; Micromechanical devices; Particle filters; Radar tracking; Sensor systems; State-space methods; Target tracking;
Conference_Titel :
IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on
Conference_Location :
Paris
Print_ISBN :
1-4244-0390-1
DOI :
10.1109/IECON.2006.347889
