Using Non-Parametric Filters and Sparse Observations to Localise a Fleet of Mining Vehicles

Mining operations generally involve a large number of expensive vehicles, and for the efficient management of these vehicles it is very beneficial to know their location at all times. The current procedure for vehicle localisation in mines is to provide the mine with complete wireless network coverage to facilitate the broadcasting of vehicle positions. This paper examines an alternative method of localisation that does not require the expense of a radio network with full mine coverage. Two different non-parametric filter approaches are presented to estimate the location of the vehicles. A comparison of the two filters is also presented with experimental results using data collected in two operational mines.