PT  - JOURNAL ARTICLE
AU  - Benz, David
AU  - Gehrt, Jan-Jöran
AU  - Zweigel,, René
AU  - Abel, Dirk
TI  - Speed Sensor-Aided Navigation Filter for Robust Localization in GNSS-Denied Mining Environments
AID  - 10.33012/navi.566
DP  - 2023 Mar 20
TA  - NAVIGATION: Journal of the Institute of Navigation
PG  - navi.566
VI  - 70
IP  - 1
4099  - https://navi.ion.org/content/70/1/navi.566.short
4100  - https://navi.ion.org/content/70/1/navi.566.full
SO  - NAVIGATION2023 Mar 20; 70
AB  - 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.