Hlophe, K2012-03-152012-03-152011-11Hlophe, K. An embedded underground navigation system. Robotics & Mechatronics Conference of South Africa, Pretoria, South Africa, 23-25 November 2011978-0-620-51897-0http://www.robmech.co.za/files/default/proceedings/robm_proceedings_3.pdfhttp://hdl.handle.net/10204/5648Robotics & Mechatronics Conference of South Africa, Pretoria, South Africa, 23-25 November 2011Platform 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.enRoboticsUnderground navigation systemsAutonomous mobile systemsInertial measurement unitIMUActive Beacon Positioning SystemABPSUnderground minesKalman filterConference PresentationHlophe, K. (2011). An embedded underground navigation system. Robmech 2011. http://hdl.handle.net/10204/5648Hlophe, K. "An embedded underground navigation system." (2011): http://hdl.handle.net/10204/5648Hlophe K, An embedded underground navigation system; Robmech 2011; 2011. http://hdl.handle.net/10204/5648 .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 -