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An embedded underground navigation system

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dc.contributor.author Hlophe, K
dc.date.accessioned 2012-03-15T10:25:21Z
dc.date.available 2012-03-15T10:25:21Z
dc.date.issued 2011-11
dc.identifier.citation Hlophe, K. An embedded underground navigation system. Robotics & Mechatronics Conference of South Africa, Pretoria, South Africa, 23-25 November 2011 en_US
dc.identifier.isbn 978-0-620-51897-0
dc.identifier.uri http://www.robmech.co.za/files/default/proceedings/robm_proceedings_3.pdf
dc.identifier.uri http://hdl.handle.net/10204/5648
dc.description Robotics & Mechatronics Conference of South Africa, Pretoria, South Africa, 23-25 November 2011 en_US
dc.description.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. en_US
dc.language.iso en en_US
dc.publisher Robmech 2011 en_US
dc.relation.ispartofseries Workflow;8044
dc.subject Robotics en_US
dc.subject Underground navigation systems en_US
dc.subject Autonomous mobile systems en_US
dc.subject Inertial measurement unit en_US
dc.subject IMU en_US
dc.subject Active Beacon Positioning System en_US
dc.subject ABPS en_US
dc.subject Underground mines en_US
dc.subject Kalman filter en_US
dc.title An embedded underground navigation system en_US
dc.type Conference Presentation en_US
dc.identifier.apacitation Hlophe, K. (2011). An embedded underground navigation system. Robmech 2011. http://hdl.handle.net/10204/5648 en_ZA
dc.identifier.chicagocitation Hlophe, K. "An embedded underground navigation system." (2011): http://hdl.handle.net/10204/5648 en_ZA
dc.identifier.vancouvercitation Hlophe K, An embedded underground navigation system; Robmech 2011; 2011. http://hdl.handle.net/10204/5648 . en_ZA
dc.identifier.ris TY - Conference Presentation AU - Hlophe, K AB - 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. DA - 2011-11 DB - ResearchSpace DP - CSIR KW - Robotics KW - Underground navigation systems KW - Autonomous mobile systems KW - Inertial measurement unit KW - IMU KW - Active Beacon Positioning System KW - ABPS KW - Underground mines KW - Kalman filter LK - https://researchspace.csir.co.za PY - 2011 SM - 978-0-620-51897-0 T1 - An embedded underground navigation system TI - An embedded underground navigation system UR - http://hdl.handle.net/10204/5648 ER - en_ZA


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