Hlophe, KFerreira, GGreen, J2011-05-262011-05-262010-09Hlophe, K, Ferreira, G, and Green, J. 2010. Posture estimation system for underground mine vehicles. 25th International Conference on CAD/CAM, Robotics and Factories of the Future (CARsFOF), CSIR International Convention Centre, Pretoria, 13-16 July 2010, pp. 8http://hdl.handle.net/10204/502125th International Conference on CAD/CAM, Robotics and Factories of the Future (CARsFOF), CSIR International Convention Centre, Pretoria, 13-16 July 2010Platform pose is a key requirement for autonomous systems. The severe natural conditions and complex terrain of underground mines diminish the performance of classical localization systems. This paper proposes a pose (localization and orientation) estimator that utilizes ultrasonic and electromagnetic signals to facilitate a time-of-flight (TOF) based trilateration. This system decreases maintenance costs by utilizing a wait mode and only operational once a receiver is in the vicinity. The trilateration algorithm utilized is an Ordinary Least Square (OLS) estimator. The pose estimator has two ultrasonic receivers at a fixed separation distance. The two ultrasonic receivers each calculate its unique position. The orientation of the object is obtained from the orientation of a line segment joining the two positions on the object.enTrilaterationPose estimatorUltrasonicRadio frequencyAutonomous systemsTime-of-flightConference PresentationHlophe, K., Ferreira, G., & Green, J. (2010). Posture estimation system for underground mine vehicles. http://hdl.handle.net/10204/5021Hlophe, K, G Ferreira, and J Green. "Posture estimation system for underground mine vehicles." (2010): http://hdl.handle.net/10204/5021Hlophe K, Ferreira G, Green J, Posture estimation system for underground mine vehicles; 2010. http://hdl.handle.net/10204/5021 .TY - Conference Presentation AU - Hlophe, K AU - Ferreira, G AU - Green, J AB - Platform pose is a key requirement for autonomous systems. The severe natural conditions and complex terrain of underground mines diminish the performance of classical localization systems. This paper proposes a pose (localization and orientation) estimator that utilizes ultrasonic and electromagnetic signals to facilitate a time-of-flight (TOF) based trilateration. This system decreases maintenance costs by utilizing a wait mode and only operational once a receiver is in the vicinity. The trilateration algorithm utilized is an Ordinary Least Square (OLS) estimator. The pose estimator has two ultrasonic receivers at a fixed separation distance. The two ultrasonic receivers each calculate its unique position. The orientation of the object is obtained from the orientation of a line segment joining the two positions on the object. DA - 2010-09 DB - ResearchSpace DP - CSIR KW - Trilateration KW - Pose estimator KW - Ultrasonic KW - Radio frequency KW - Autonomous systems KW - Time-of-flight LK - https://researchspace.csir.co.za PY - 2010 T1 - Posture estimation system for underground mine vehicles TI - Posture estimation system for underground mine vehicles UR - http://hdl.handle.net/10204/5021 ER -