Unmanned Vehicle Positioning System for GPS Denial Environment such as Underground Mine Using Integration of IMU and UWB

At present, the development direction of underground mining is "safe, efficient, intelligent and clean", and the precise positioning technology of personnel is one of the core technologies to ensure the safety of underground mining production. In order to carry out navigation and location...

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Bibliographic Details
Published in2022 6th International Conference on Automation, Control and Robots (ICACR) pp. 180 - 184
Main Authors Zhang, Zhicheng, Yang, Yue, Ni, Runfeng, Yang, Han, He, Zuwang
Format Conference Proceeding
LanguageEnglish
Published IEEE 23.09.2022
Subjects
Costs
Data integration
fusion positioning
IMU
Inertial navigation
Kalman filtering
Measurement units
Production
Simulation
Solid modeling
UWB
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Summary:At present, the development direction of underground mining is "safe, efficient, intelligent and clean", and the precise positioning technology of personnel is one of the core technologies to ensure the safety of underground mining production. In order to carry out navigation and location in underground mine, we propose a navigation and location method based on Inertial measurement unit (IMU) and Ultra Wideband (UWB) data fusion. In this method, UWB location results and IMU data are fused by Kalman filter algorithm to realize navigation location. This scheme overcomes the problems of large drift error of single IMU and measurement error caused by NLOS propagation of UWB signal in underground mine. Simulation results show that the proposed method can obtain better positioning data than the traditional positioning method at low cost in the GPS rejection environment, thus effectively improving the positioning accuracy of the underground mine staff positioning system, which is of great significance to the underground mine navigation and positioning in special situations.
DOI:10.1109/ICACR55854.2022.9935550