Speed Sensor-Aided Navigation Filter for Robust Localization in GNSS-Denied Mining Environments
The automation of mining haulage vehicles has great potential in terms of safety and economy. The performance of autonomous vehicles depends largely on highly accurate vehicle state information. Deep mines are especially challenging, as satellite-based localization methods are reaching their limits....
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Institute of Navigation
2023-02-01
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| Series: | Navigation |
| Online Access: | https://navi.ion.org/content/70/1/navi.566 |
| _version_ | 1797393347367665664 |
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| author | David Benz Jan-Jöran Gehrt René Zweigel Dirk Abel |
| author_facet | David Benz Jan-Jöran Gehrt René Zweigel Dirk Abel |
| author_sort | David Benz |
| collection | DOAJ |
| description | The automation of mining haulage vehicles has great potential in terms of safety and economy. The performance of autonomous vehicles depends largely on highly accurate vehicle state information. Deep mines are especially challenging, as satellite-based localization methods are reaching their limits. Therefore, we introduce a new navigation filter concept for the precise and robust localization of the haulage fleet that can handle temporary GNSS interruptions in deep open-pit mines. The multi-sensor navigation filter utilizes an inertial measurement unit and is aided by GNSS. We introduce a new optical speed sensor update within the tightly coupled unscented Kalman filter. The speed sensor measures the slip-free two-dimensional speed above ground. The filter was validated with an articulated dumper in a gravel pit. The new filter achieved a mean position
error of 0.24 m during a test drive of 190 s with a simulated GNSS outage of 90 s. |
| first_indexed | 2024-03-09T00:01:07Z |
| format | Article |
| id | doaj.art-996e2fa89b7b47838f2eb57cb2c17e69 |
| institution | Directory Open Access Journal |
| issn | 2161-4296 |
| language | English |
| last_indexed | 2024-03-09T00:01:07Z |
| publishDate | 2023-02-01 |
| publisher | Institute of Navigation |
| record_format | Article |
| series | Navigation |
| spelling | doaj.art-996e2fa89b7b47838f2eb57cb2c17e692023-12-12T17:32:42ZengInstitute of NavigationNavigation2161-42962023-02-0170110.33012/navi.566navi.566Speed Sensor-Aided Navigation Filter for Robust Localization in GNSS-Denied Mining EnvironmentsDavid BenzJan-Jöran GehrtRené ZweigelDirk AbelThe automation of mining haulage vehicles has great potential in terms of safety and economy. The performance of autonomous vehicles depends largely on highly accurate vehicle state information. Deep mines are especially challenging, as satellite-based localization methods are reaching their limits. Therefore, we introduce a new navigation filter concept for the precise and robust localization of the haulage fleet that can handle temporary GNSS interruptions in deep open-pit mines. The multi-sensor navigation filter utilizes an inertial measurement unit and is aided by GNSS. We introduce a new optical speed sensor update within the tightly coupled unscented Kalman filter. The speed sensor measures the slip-free two-dimensional speed above ground. The filter was validated with an articulated dumper in a gravel pit. The new filter achieved a mean position error of 0.24 m during a test drive of 190 s with a simulated GNSS outage of 90 s.https://navi.ion.org/content/70/1/navi.566 |
| spellingShingle | David Benz Jan-Jöran Gehrt René Zweigel Dirk Abel Speed Sensor-Aided Navigation Filter for Robust Localization in GNSS-Denied Mining Environments Navigation |
| title | Speed Sensor-Aided Navigation Filter for Robust Localization in GNSS-Denied Mining Environments |
| title_full | Speed Sensor-Aided Navigation Filter for Robust Localization in GNSS-Denied Mining Environments |
| title_fullStr | Speed Sensor-Aided Navigation Filter for Robust Localization in GNSS-Denied Mining Environments |
| title_full_unstemmed | Speed Sensor-Aided Navigation Filter for Robust Localization in GNSS-Denied Mining Environments |
| title_short | Speed Sensor-Aided Navigation Filter for Robust Localization in GNSS-Denied Mining Environments |
| title_sort | speed sensor aided navigation filter for robust localization in gnss denied mining environments |
| url | https://navi.ion.org/content/70/1/navi.566 |
| work_keys_str_mv | AT davidbenz speedsensoraidednavigationfilterforrobustlocalizationingnssdeniedminingenvironments AT janjorangehrt speedsensoraidednavigationfilterforrobustlocalizationingnssdeniedminingenvironments AT renezweigel speedsensoraidednavigationfilterforrobustlocalizationingnssdeniedminingenvironments AT dirkabel speedsensoraidednavigationfilterforrobustlocalizationingnssdeniedminingenvironments |