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Investigation of Inertial Navigation for Localization in Underground Mines
Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Signals and Systems Group.
2015 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

This thesis project considers the potential use of inertial navigation on a consumer grade tablet mounted in a vehicle in an underground mine. The goal is to identify which sensors and techniques are useful and to design a navigation algorithm based on those results. The navigation algorithm is intended to work alongside the current received signal strength indication (RSSI) positioning system. Testing of the gyroscope, accelerometer and magnetometer sensors suggest that, while dead reckoning is likely not precise enough, an orientation filter can be designed that can be used for navigation. A complementary orientation filter using the gyroscope and accelerometer is then designed that shows better results than the default sensor fusion solutions available in Android. The filter is expandable and can come to include magnetometer data in the future. Based on the outputs of this filter, a navigation algorithm based onangle matching with map information is proposed. Precise positioning in an underground mine can be crucial to employee safety, and may also bring production benefits.

Place, publisher, year, edition, pages
UPTEC F, ISSN 1401-5757 ; 15067
Keyword [en]
Inertial Navigation, Positioning, Localization, Underground Mine, Sensor Fusion, Gyroscope
Keyword [sv]
Tröghetsnavigering, Positionering, Underjordsgruva, Sensorfusion, Gyroskop
National Category
Signal Processing
URN: urn:nbn:se:uu:diva-268879OAI: diva2:881587
External cooperation
Educational program
Master Programme in Engineering Physics
2015-11-27, Å13167, Ångströmslaboratoriet, Ulleråker, 752 37, Uppsala, 16:13 (Swedish)
Available from: 2015-12-11 Created: 2015-12-10 Last updated: 2015-12-11Bibliographically approved

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