Positioning in Underground Mines
W. W. Hawkins, Brian L. F. Daku, Arnfinn F. Prugger · Proceedings of the Annual Conference of the IEEE Industrial Electronics Society · 2006
In this paper the problem of estimating the position of a user relative to a map of an underground mine is explored. A positioning system consisting of a set of sensors and a digital mine map is proposed and modeled using a state space representation. The non-linear positioning system uses a particle filter to estimate the state and thus the position. The particle filter based positioning system is implemented in a MATLAB simulation. Simulation results are presented for various filter configurations demonstrating this is a promising system for mine positioning