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Please use this identifier to cite or link to this item: http://hdl.handle.net/10204/5562

Title: Underground mine navigation using an integrated IMU/TOF system with unscented Kalman filter
Authors: Hlophe, K
Green, J
Keywords: Autonomous mobile systems
Kalman filter
Underground mine navigation
Integrated IMU/TOF system
Sensor fusion
Unscented Kalman Filter
Issue Date: Jul-2011
Citation: Hlophe, K and Green, J. Underground mine navigation using an integrated IMU/TOF system with unscented Kalman filter. International Conference of CAD/CAM, Robotics & Factories of the Future Conference, Kuala Lumpur, Malaysia, 26-28 July 2011
Series/Report no.: Workflow;8042
Abstract: Platform pose (localization and orientation) information is a key requirement for autonomous mobile systems. The severe natural conditions and complex terrain of underground mines diminish the capability of most pose estimation systems, especially GPS. Our research interest is focused on using low-cost off-the-shelf IMU to improve the Active Beacon Positioning System (ABPS) developed here at the CSIR. This paper proposes a novel pose estimator, for underground mines, that fuses together data from the ABPS and low-cost MEMS based IMU. This pose estimator uses a square-root unscented Kalman filter (SR-UKF) to fuse the data together. The method is evaluated by building a complete system in a lab.
Description: International Conference of CAD/CAM, Robotics & Factories of the Future Conference, Kuala Lumpur, Malaysia, 26-28 July 2011
URI: http://hdl.handle.net/10204/5562
Appears in Collections:Mining and geoscience
Aeronautic systems
Mobile intelligent autonomous systems
General science, engineering & technology

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