RT Journal Article
SR Electronic
T1 Speed Sensor-Aided Navigation Filter for Robust Localization in GNSS-Denied Mining Environments
JF NAVIGATION: Journal of the Institute of Navigation
JO NAVIGATION
FD Institute of Navigation
SP navi.566
DO 10.33012/navi.566
VO 70
IS 1
A1 Benz, David
A1 Gehrt, Jan-Jöran
A1 Zweigel,, René
A1 Abel, Dirk
YR 2023
UL https://navi.ion.org/content/70/1/navi.566.abstract
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.