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Please use this identifier to cite or link to this item: http://hdl.handle.net/10204/5648

Title: An embedded underground navigation system
Authors: Hlophe, K
Keywords: Robotics
Underground navigation systems
Autonomous mobile systems
Inertial measurement unit
IMU
Active Beacon Positioning System
ABPS
Underground mines
Kalman filter
Issue Date: Nov-2011
Publisher: Robmech 2011
Citation: Hlophe, K. An embedded underground navigation system. Robotics & Mechatronics Conference of South Africa, Pretoria, South Africa, 23-25 November 2011
Series/Report no.: Workflow;8044
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 a lowcost off-the-shelf inertial measurement unit (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 a low-cost MEMS based inertial navigation system (INS). This pose estimator uses an unscented Kalman filter (UKF) to fuse the data together. The method is evaluated by building a complete system in a lab.
Description: Robotics & Mechatronics Conference of South Africa, Pretoria, South Africa, 23-25 November 2011
URI: http://www.robmech.co.za/files/default/proceedings/robm_proceedings_3.pdf
http://hdl.handle.net/10204/5648
ISBN: 978-0-620-51897-0
Appears in Collections:Mining and geoscience
Mobile intelligent autonomous systems
General science, engineering & technology

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