Optimization of an Underground Localization System Based on Ultra-Wideband Radio and Inertial Navigation Through Determination and Evaluation of Influencing Factors

Abstract

Indoor positioning systems express an increasing demand within the growing automated industry as well as the desire to move autonomous vehicles in areas dangerous to humans like the mining industry. Since the extraction in underground mines takes place in deeper levels and the environmental conditions are more challenging, autonomous machines are seen as a way to increase efficiency and work safety. Hereby the personnel are moved from potentially dangerous situations in the underground environment to operate remotely. The fundamental requirements for these operations are accurate position information of the equipment in the underground mines. The Global Navigation Satellite System (GNSS) is not available inside the buildings or mines, as no direct line of sight can be established with the satellites. Therefore, there is a strong need for robust and accurate positioning systems in underground environments. The Institute for Advanced Mining Technologies (AMT) of RWTH Aachen University has conducted research in different underground positioning technologies. As a result of this research, the application of Ultra-Wideband (UWB) radio technology has proven auspicious regarding the localization of mobile machine equipment in harsh underground mining conditions.