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Journal articles on the topic 'Underground navigation'

Author: Grafiati

Published: 14 March 2023

Last updated: 31 July 2025

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1

Li, Ningbo, Yanbin Gao, Ye Wang, Zhejun Liu, Lianwu Guan, and Xin Liu. "A Low-Cost Underground Garage Navigation Switching Algorithm Based on Kalman Filtering." Sensors 19, no. 8 (2019): 1861. http://dx.doi.org/10.3390/s19081861.

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Modern parking lots have gradually developed into underground garages to improve the efficient use of space. However, the complex design of parking lots also increases the demands on vehicle navigation. The traditional method of navigation switching only uses satellite signals. After the Position Dilution Of Precision (PDOP) of satellite signals is over the limit, vehicle navigation will enter indoor mode. It is not suitable for vehicles in underground garages to switch modes with a fast-response system. Therefore, this paper chooses satellite navigation, inertial navigation, and the car syste

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Li, Ningbo, Lianwu Guan, Yanbin Gao, Zhejun Liu, Ye Wang, and Hanxiao Rong. "A Low Cost Civil Vehicular Seamless Navigation Technology Based on Enhanced RISS/GPS between the Outdoors and an Underground Garage." Electronics 9, no. 1 (2020): 120. http://dx.doi.org/10.3390/electronics9010120.

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Vehicles have to rely on satellite navigation in an open environment. However, satellite navigation cannot obtain accurate positioning information for vehicles in the interior of underground parking lots, as they comprise a semi-enclosed navigation space. Therefore, vehicular navigation needs to take into consideration both outdoor and indoor environments. Actually, outdoor navigation and indoor navigation require different positioning methods, and it is of great importance to choose a reasonable navigation and positioning algorithm solution for vehicles. Fortunately, the integrated navigation

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Li, L., Q. Huang, K. Xu, G. Guo, and R. Chen. "VEHICLE POSITIONING IN UNDERGROUND SPACE USING A SMART PHONE." International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLVI-3/W1-2022 (April 22, 2022): 81–87. http://dx.doi.org/10.5194/isprs-archives-xlvi-3-w1-2022-81-2022.

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Abstract. Smartphones is a good choice for vehicle navigation since many navigation sensors are built-in with low cost advantage. However, it cannot provide reliable positioning information in underground space since GNSS is not available and IMU drift quickly. In this manuscript, a mixed navigation scheme for smartphone consumer is presented. It combines GNSS, INS, Non-Holonomic Constraint (NHC) and Bluetooth Low Energy (BLE) to provide reliable seamless navigation in both outdoors and underground. Some important problems including smartphone boresight misalignment, HNC level arm, GNSS and BL

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Nasibullina, T. V., and O. Yu Lukashov. "UNDERGROUND MINE NAVIGATION SOLUTIONS FOR EMERGENCY." Ugol', no. 04 (April 8, 2020): 29–32. http://dx.doi.org/10.18796/0041-5790-2020-4-29-32.

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Bissiri, Y., G. Baiden, S. Filion, and A. Saari. "Automated surveying device for underground navigation." Mining Technology 117, no. 2 (2008): 71–82. http://dx.doi.org/10.1179/174328608x362640.

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Jiang, Yuanjian, Pingan Peng, Liguan Wang, Jiaheng Wang, Jiaxi Wu, and Yongchun Liu. "LiDAR-Based Local Path Planning Method for Reactive Navigation in Underground Mines." Remote Sensing 15, no. 2 (2023): 309. http://dx.doi.org/10.3390/rs15020309.

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Reactive navigation is the most researched navigation technique for underground vehicles. Local path planning is one of the main research difficulties in reactive navigation. At present, no technique can perfectly solve the problem of local path planning for the reactive navigation of underground vehicles. Aiming to address this problem, this paper proposes a new method for local path planning based on 2D LiDAR. First, we convert the LiDAR data into a binary image, and we then extract the skeleton of the binary image through a thinning algorithm. Finally, we extract the centerline of the curre

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Moussa, Mohamed, Shady Zahran, Mostafa Mostafa, Adel Moussa, Naser El-Sheimy, and Mohamed Elhabiby. "Optical and Mass Flow Sensors for Aiding Vehicle Navigation in GNSS Denied Environment." Sensors 20, no. 22 (2020): 6567. http://dx.doi.org/10.3390/s20226567.

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Nowadays, autonomous vehicles have achieved a lot of research interest regarding the navigation, the surrounding environmental perception, and control. Global Navigation Satellite System/Inertial Navigation System (GNSS/INS) is one of the significant components of any vehicle navigation system. However, GNSS has limitations in some operating scenarios such as urban regions and indoor environments where the GNSS signal suffers from multipath or outage. On the other hand, INS standalone navigation solution degrades over time due to the INS errors. Therefore, a modern vehicle navigation system de

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Tirtaning Adhialam. "Artistic Components of London Tube, as Station Distinction and Improving Navigation." Journal of Information Systems Engineering and Management 10, no. 32s (2025): 1018–28. https://doi.org/10.52783/jisem.v10i32s.5446.

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In the setting of the London Underground, this study addresses how relationships develop between artistic elements and navigation, recognizing that modern transportation studies increasingly emphasize social and psychological aspects in enhancing the travel experience. Site visits and a London Underground Tour were conducted as part of the direct assessment of artistic elements’ role in station distinction and navigation. Additionally, Instagram data analysis and interviews were carried out to gather public perceptions, as well as the potential transferability of these features to Indonesia's

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MADHAVAN, R., G. DISSANAYAKE, H. DURRANT-WHYTE, J. ROBERTS, P. CORKE, and J. CUNNINGHAM. "ISSUES IN AUTONOMOUS NAVIGATION OF UNDERGROUND VEHICLES." Mineral Resources Engineering 08, no. 03 (1999): 313–24. http://dx.doi.org/10.1142/s095060989900030x.

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Liu, Huiyun, Yongqiang Li, Baoshan Wang, and Zengzhang Guo. "Research on Mapping Error Control of Underground Space Mobile LiDAR Constrained by Cooperative Targets." Journal of Sensors 2022 (October 10, 2022): 1–12. http://dx.doi.org/10.1155/2022/8690532.

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In the underground environment, it is difficult to obtain spatial three-dimensional data because of occlusion and its complexity. Mobile light detection and ranging (LiDAR) measurement technology has the ability to obtain three-dimensional spatial information quickly and accurately, but in the underground environment, because of the lack of global navigation satellite system (GNSS) signal in the integrated navigation system, the measurement accuracy decreases with the increase of time. In this paper, an extended Kalman filter-based loose mode is constructed using the real coordinates of the ce

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Xu, Man, Shuangfeng Wei, and Sisi Zlatanova. "AN INDOOR NAVIGATION APPROACH CONSIDERING OBSTACLES AND SPACE SUBDIVISION OF 2D PLAN." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLI-B4 (June 13, 2016): 339–46. http://dx.doi.org/10.5194/isprs-archives-xli-b4-339-2016.

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The demand for indoor navigation is increasingly urgent in many applications such as safe management of underground spaces or location services in complex indoor environment, e.g. shopping centres, airports, museums, underground parking lot and hospitals. Indoor navigation is still a challenging research field, as currently applied indoor navigation algorithms commonly ignore important environmental and human factors and therefore do not provide precise navigation. Flexible and detailed networks representing the connectivity of spaces and considering indoor objects such as furniture are very i

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Xu, Man, Shuangfeng Wei, and Sisi Zlatanova. "AN INDOOR NAVIGATION APPROACH CONSIDERING OBSTACLES AND SPACE SUBDIVISION OF 2D PLAN." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLI-B4 (June 13, 2016): 339–46. http://dx.doi.org/10.5194/isprsarchives-xli-b4-339-2016.

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The demand for indoor navigation is increasingly urgent in many applications such as safe management of underground spaces or location services in complex indoor environment, e.g. shopping centres, airports, museums, underground parking lot and hospitals. Indoor navigation is still a challenging research field, as currently applied indoor navigation algorithms commonly ignore important environmental and human factors and therefore do not provide precise navigation. Flexible and detailed networks representing the connectivity of spaces and considering indoor objects such as furniture are very i

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Xu, Hang, Lu Wang, Yutong Zu, Wenchao Gou, and Yuanbiao Hu. "Application and Development of Fiber Optic Gyroscope Inertial Navigation System in Underground Space." Sensors 23, no. 12 (2023): 5627. http://dx.doi.org/10.3390/s23125627.

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Fiber Optic Gyroscope Inertial Navigation System (FOG-INS) is a navigation system using fiber optic gyroscopes and accelerometers, which can offer high-precision position, velocity, and attitude information for carriers. FOG-INS is widely used in aerospace, marine ships, and vehicle navigation. In recent years, it has also played an important role in underground space. For example, in the deep earth, FOG-INS can be used in directional well drilling, which can enhance recovery in resource exploitation. While, in shallow earth, FOG-INS is a high-precision positioning technique that can guide con

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Essien, Ellen, and Samuel Frimpong. "Enhancing Autonomous Truck Navigation in Underground Mines: A Review of 3D Object Detection Systems, Challenges, and Future Trends." Drones 9, no. 6 (2025): 433. https://doi.org/10.3390/drones9060433.

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Integrating autonomous haulage systems into underground mining has revolutionized safety and operational efficiency. However, deploying 3D detection systems for autonomous truck navigation in such an environment faces persistent challenges due to dust, occlusion, complex terrains, and low visibility. This affects their reliability and real-time processing. While existing reviews have discussed object detection techniques and sensor-based systems, providing valuable insights into their applications, only a few have addressed the unique underground challenges that affect 3D detection models. Thi

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Nasritdinova, Umida, Boburmirzo Ko‘kiyev, Svetlana Аtaxanova, Ismail Ozodboyev, and Samat Seytimbetov. "Navigation systems for agricultural machinery for adaptive-landscape farming." BIO Web of Conferences 105 (2024): 03009. http://dx.doi.org/10.1051/bioconf/202410503009.

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The GLONASS navigator is a versatile tool with diverse applications spanning air, sea, and land navigation. In agriculture, it facilitates adaptive-landscape farming by tailoring practices to specific soil and climate conditions, reducing search costs, and enhancing accuracy for surveyors and farmers. Beyond agriculture, GLONASS technology revolutionizes transportation by enabling shorter flight times, optimizing traffic flow, and even supporting aircraft control with autonomous landing prototypes. Its integration into various devices like watches, mobile phones, cars, and GPS-equipped dog col

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Hernández-Santos, Carlos, Ernesto Rincon, Yasser A. Davizón, Adriana Vargas-Martínez, and Alejandro R. Said. "Robotics Navigation System for Mapping Underground Hydraulic Networks." Machines 10, no. 7 (2022): 509. http://dx.doi.org/10.3390/machines10070509.

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This paper presents the model, design, and simulation for a navigation system developed for a group of mobile robots dedicated to the production of maps for underground hydraulic infrastructure. The system can operate internally in unknown pipeline networks without GPS support, integrating Tarry’s principles of deep search, Pledge modify discrimination, and topographic orientation transfer, in the temporary construction of a reference network independent of peripheral inertial navigation. The acquisition of topographic objectives for mapping is done by laser collimation and radio frequency syn

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Liang, Minfu, Daqian Zheng, Kewei Li, Xinqiu Fang, and Gang Wu. "Application and Prospect of Strapdown Inertial Navigation System in Coal Mining Equipment." Sensors 24, no. 21 (2024): 6836. http://dx.doi.org/10.3390/s24216836.

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In recent years, with the rapid construction of a safe, clean, efficient and sustainable modern energy system, the intelligence of coal mining has become the inevitable direction of the development of the coal mining industry. The intelligence of coal mining system and equipment is the core of intelligent mining, and the positioning technology of mining equipment is the key to underground intelligent mining. The strapdown inertial navigation system can make up for the shortcomings of traditional GPS positioning systems and laser positioning because of its strong anti-interference, high precisi

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Leung, Keith, Daniel Lühr, Hamidreza Houshiar, et al. "Chilean underground mine dataset." International Journal of Robotics Research 36, no. 1 (2017): 16–23. http://dx.doi.org/10.1177/0278364916679497.

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This article presents a robotic dataset collected from the largest underground copper mine in the world. The sensor measurements from a 3D scanning lidar, a 2D radar, and stereo cameras were recorded from an approximately two kilometer traverse of a production-active tunnel. The equipment used and the data collection process is discussed in detail, along with the format of the data. This dataset is suitable for research in robotic navigation, as well as simultaneous localization and mapping. The download instructions are available at the following website http://dataset.amtc.cl .

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Khakimov, Abduboki, Gullola Kutumova, and Zamira Mirzaeva. "Current trends in the development of automation surveying support in the construction of subways." E3S Web of Conferences 168 (2020): 00010. http://dx.doi.org/10.1051/e3sconf/202016800010.

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The article discusses the basic principles and conditions for the use of the latest underground navigation system. An example is given of the second new Yunusabad line of the Tashkent Subway using the shield method. For the first time in the Republic of Uzbekistan, in the construction of the Tashkent metro stations by underground, the Tunneling Mechanized Complex (TMC) was used - a movable prefabricated metal structure manufactured in Germany by the company HERRENKNECHT, which is the leading company in the world and produces machines for the construction of tunnels of any diameter in the range

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Zhao, Dongqing, Pengfei Li, and Linyang Li. "Cosmic Ray Muon Navigation for Subsurface Environments: Technologies and Challenges." Particles 8, no. 2 (2025): 46. https://doi.org/10.3390/particles8020046.

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The global navigation satellite system (GNSS), using electromagnetic signals, enables continuous positioning throughout the entire surface of the Earth. However, underwater and underground environments significantly restrict the propagation of electromagnetic waves. The sole approach to aid positioning is the utilization of sound signals. Signal blockage in underground and indoor environments demands the accurate location of anchor points for local positioning, which requires previous deployment. Unlike radio waves, the cosmic ray muons are highly reliable natural signal sources for positionin

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Cartwright, William, and Kenneth Field. "Beck Exportation: London and Sydney." Proceedings of the ICA 1 (May 16, 2018): 1–5. http://dx.doi.org/10.5194/ica-proc-1-17-2018.

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Henry (Harry) Beck’s schematic map of the London Underground is the foundation for most ‘modern’ representations of metropolitan rail systems. From its introduction in the 1930s, it has been the image of the London underground rail transportation system, and, indeed, the image of London itself.<br> Following the launch of the schematic map in 1933 Londoners adopted his representation of the underground as the favoured transportation navigation tool, but also as a physical affirmation that they were citizens of a modern city, a city of electricity and the avant-garde.<br> The London

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ȚIGĂNIUC, Daniel, and Petre NEGREA. "INDOOR NAVIGATION: NECESSITY, MECHANISMS AND EVOLUTION." SCIENTIFIC RESEARCH AND EDUCATION IN THE AIR FORCE 24 (July 28, 2023): 175–84. http://dx.doi.org/10.19062/2247-3173.2023.24.22.

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Today, GNSS-based solutions are the main technology used in the field of outdoor navigation, which provides good location and a global coverage. The issue arises in densely built-up urban areas, as well as in closed or underground spaces, where the quality of the signal from the satellites can be affected. This is where indoor navigation steps in. Considering these aspects, this paper presents some aspects regarding indoor navigation, starting from the motivation for the appearance of such navigation and presenting several scenarios where indoor navigation can be used. Also, the paper deals wi

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Yu, Hui Jun, Cai Biao Chen, Wan Wu, and Zhi Wei Zhou. "Research of Application on Robot Vision with SQI Algorithms Based on Retinex." Applied Mechanics and Materials 675-677 (October 2014): 1358–62. http://dx.doi.org/10.4028/www.scientific.net/amm.675-677.1358.

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Troubleshooting and safety monitoring in the underground mine by manual operation often have the existence of security risks, so the trend of replacing manual operation by robots increases. In robot vision navigation, image enhancement in the automatic target recognition is the most critical stage of the pretreatment when extracting the image feature and matching. As the contour enhancement effect of multiscale Retinex algorithm is very good, which plays a key role in the robot visual scene image. When underground mine mobile robot identify path in machine vision navigation, this paper propose

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Zhang, Yong Quan, Gui Ying Lu, and Xiao Ming Wu. "A Simplified Model of Inertial Navigation System for Underground Pipeline Track Instrument." Advanced Materials Research 542-543 (June 2012): 895–900. http://dx.doi.org/10.4028/www.scientific.net/amr.542-543.895.

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Based on the analysis of the basic principle of traditional inertial navigation technology, this paper puts forward a kind of simplified model of the track measurement which applies to underground pipeline. The model using structures of half-strap-down stable platform that composes of a single axis gyro, two accelerometers and pulse taximeter, by measuring angular velocity of pipeline azimuth, pitching angle, platform rolling angle and pipeline length, combined with self-actuated research space track, work out the mathematics model, eventually work out the space track of the underground pipeli

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Bakambu, Joseph Nsasi, and Vladimir Polotski. "Autonomous system for navigation and surveying in underground mines." Journal of Field Robotics 24, no. 10 (2007): 829–47. http://dx.doi.org/10.1002/rob.20213.

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Mascaró, Mauricio, Isao Parra-Tsunekawa, Carlos Tampier, and Javier Ruiz-del-Solar. "Topological Navigation and Localization in Tunnels—Application to Autonomous Load-Haul-Dump Vehicles Operating in Underground Mines." Applied Sciences 11, no. 14 (2021): 6547. http://dx.doi.org/10.3390/app11146547.

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Mobile robots are no longer used exclusively in research laboratories and indoor controlled environments, but are now also used in dynamic industrial environments, including outdoor sites. Mining is one industry where robots and autonomous vehicles are increasingly used to increase the safety of the workers, as well as to augment the productivity, efficiency, and predictability of the processes. Since autonomous vehicles navigate inside tunnels in underground mines, this kind of navigation has different precision requirements than navigating in an open environment. When driving inside tunnels,

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Riurean, Simona, Marius Olar, Andreea Ionică, and Lilla Pellegrini. "Visible Light Communication and Augmented Reality for Underground Positioning System." MATEC Web of Conferences 305 (2020): 00089. http://dx.doi.org/10.1051/matecconf/202030500089.

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Visible Light Communication (VLC) technology allows wireless data transmission piggybacked by illumination. Highly accurate and reliable systems based on VLC, as Indoor Positioning System (IPS) have been already developed by academics and specialized companies. Underground Positioning System (UPS) addressed here is embedded into the protection equipment, compulsory to be used underground, being therefore important to workers in potential dangerous spaces since fast data communication and real-time data interpretation is therefore possible. This paper presents the VLC technology implemented in

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Hung, R., B. A. King, and W. Chen. "A METHOD FOR THE POSITIONING AND ORIENTATION OF RAIL-BOUND VEHICLES IN GNSS-FREE ENVIRONMENTS." ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences III-1 (June 2, 2016): 135–42. http://dx.doi.org/10.5194/isprsannals-iii-1-135-2016.

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Mobile Mapping System (MMS) are increasingly applied for spatial data collection to support different fields because of their efficiencies and the levels of detail they can provide. The Position and Orientation System (POS), which is conventionally employed for locating and orienting MMS, allows direct georeferencing of spatial data in real-time. Since the performance of a POS depends on both the Inertial Navigation System (INS) and the Global Navigation Satellite System (GNSS), poor GNSS conditions, such as in long tunnels and underground, introduce the necessity for post-processing. In above

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Hung, R., B. A. King, and W. Chen. "A METHOD FOR THE POSITIONING AND ORIENTATION OF RAIL-BOUND VEHICLES IN GNSS-FREE ENVIRONMENTS." ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences III-1 (June 2, 2016): 135–42. http://dx.doi.org/10.5194/isprs-annals-iii-1-135-2016.

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Mobile Mapping System (MMS) are increasingly applied for spatial data collection to support different fields because of their efficiencies and the levels of detail they can provide. The Position and Orientation System (POS), which is conventionally employed for locating and orienting MMS, allows direct georeferencing of spatial data in real-time. Since the performance of a POS depends on both the Inertial Navigation System (INS) and the Global Navigation Satellite System (GNSS), poor GNSS conditions, such as in long tunnels and underground, introduce the necessity for post-processing. In above

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Shin, Beomju, Jung Ho Lee, Changsu Yu, Chulki Kim, and Taikjin Lee. "Underground Parking Lot Navigation System Using Long-Term Evolution Signal." Sensors 21, no. 5 (2021): 1725. http://dx.doi.org/10.3390/s21051725.

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Some of the shopping malls, airports, hospitals, etc. have underground parking lots where hundreds of vehicles can be parked. However, first-time visitors find it difficult to determine their current location and need to keep moving the vehicle to find an empty parking space. Moreover, they need to remember the parked location, and find a nearby staircase or elevator to move toward the destination. In such a situation, if the user location can be estimated, a new navigation system can be offered, which can assist users. This study presents an underground parking lot navigation system using lon

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Badr, A. Al, and K. Almaghout. "Navigating Narrow Margins: A Behavior-Based Control Approach for Autonomous Mining Vehicles in Confined Underground Environments." Nelineinaya Dinamika 20, no. 5 (2024): 709–26. https://doi.org/10.20537/nd241206.

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Autonomous navigation in underground mining poses a unique set of challenges, from GPS unavailability and high dust levels that compromise visual sensors to feature-poor environments that complicate localization and narrow tunnels that restrict vehicle movement. To address these issues, this paper presents a novel behavior-based control approach, integrating wall-following for lateral stability as the vehicle progresses toward designated positions. The path to these targets is generated by an A* algorithm, ensuring efficient route planning within confined spaces. For localization, an Extended

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Scheding, S., G. Dissanayake, E. M. Nebot, and H. Durrant-Whyte. "An experiment in autonomous navigation of an underground mining vehicle." IEEE Transactions on Robotics and Automation 15, no. 1 (1999): 85–95. http://dx.doi.org/10.1109/70.744605.

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Mansouri, Sina Sharif, Christoforos Kanellakis, Dariusz Kominiak, and George Nikolakopoulos. "Deploying MAVs for autonomous navigation in dark underground mine environments." Robotics and Autonomous Systems 126 (April 2020): 103472. http://dx.doi.org/10.1016/j.robot.2020.103472.

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Tian, Zijian, Liya Zhang, and Wei Chen. "Improved algorithm for navigation of rescue robots in underground mines." Computers & Electrical Engineering 39, no. 4 (2013): 1088–94. http://dx.doi.org/10.1016/j.compeleceng.2013.01.002.

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Roberts, Jonathan M., Elliot S. Duff, and Peter I. Corke. "Reactive navigation and opportunistic localization for autonomous underground mining vehicles." Information Sciences 145, no. 1-2 (2002): 127–46. http://dx.doi.org/10.1016/s0020-0255(02)00227-x.

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Melnyk, Mykhaylo, Roman Vynarovych, Yurii Hasiuk, and Mykhaylo Shvarts. "Improving the Navigation System of Underground Pipe Defect Detection Device." Computer Design Systems. Theory and Practice 6, no. 1 (2024): 117–26. http://dx.doi.org/10.23939/cds2024.01.117.

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This article addresses the issue of noise and drift in microelectromechanical gyroscopes and their impact on measurement accuracy in engineering applications. The use of a complementary filter is proposed to combine information from the accelerometer and gyroscope to reduce inaccuracies. Research shows that the accelerometer has better result repeatability, which is important for obtaining stable measurements. At the same time, the gyroscope may be more effective in measuring translational movements. The selection of sensor sensitivities and proper parameter tuning are crucial aspects. A devel

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Chen, Yuming, Wei Li, Gaifang Xin, Hai Yang, and Ting Xia. "An Improved Strong Tracking Kalman Filter Algorithm for the Initial Alignment of the Shearer." Complexity 2019 (March 18, 2019): 1–12. http://dx.doi.org/10.1155/2019/3172501.

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The strap-down inertial navigation system (SINS) is a commonly used sensor for autonomous underground navigation, which can be used for shearer positioning under a coal mine. During the process of initial alignment, inaccurate or time-varying noise covariance matrices will significantly degrade the accuracy of the initial alignment of the shearer. To overcome the performance degradation of the existing initial alignment algorithm under complex underground environment, a novel adaptive filtering algorithm is proposed by the integration of the strong tracking Kalman filter and the sequential fil

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Mohamed, Shebl, El-Tokhey Mohamed, Fathy Tamer, Mogahed Yasser, and El-Habiby Mohamed. "Accuracy Improvement of Pedestrian Dead-Reckoning Based Map Heading Constraint in GNSS-Denied Environments." International Journal of Engineering and Advanced Technology (IJEAT) 9, no. 4 (2020): 2329–33. https://doi.org/10.35940/ijeat.D7845.049420.

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the demand for navigation systems is rapidly increasing, especially in GNSS-denied environments. The ubiquitous use of smart mobile devices equipped with various sensors encouraged many researchers to investigate their use in improving indoor navigation, where GNSS is not available. Inertia navigation sensors installed in mobile devices are normally low cost and drift significantly. Consequently, there is a need for auxiliary systems to aid the navigation process, which can be achieved using external sensors or additional information extracted from, for example, base maps. In this research pap

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Cheng, Jiameng, Dongjie Wang, Jiming Liu, et al. "A Combination Positioning Method for Boom-Type Roadheaders Based on Binocular Vision and Inertial Navigation." Machines 13, no. 2 (2025): 128. https://doi.org/10.3390/machines13020128.

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A positioning method for a roadheader based on fiber-optic strap-down inertial navigation and binocular vision is proposed to address the issue of low measurement accuracy of the mining machine position caused by single-sensor methods in underground coal mines. A vision system for the mining machine position is constructed based on the four-point target fixed on the body of the roadheader, and the position and attitude information of the roadheader are obtained by combining the inertial navigation on the body. To deal with the problem of position detection inaccuracies caused by the accumulati

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Li, Shuo, Tiancheng Guo, Ran Mo, et al. "A Rescue-Assistance Navigation Method by Using the Underground Location of WSN after Disasters." Sensors 20, no. 8 (2020): 2173. http://dx.doi.org/10.3390/s20082173.

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A challenging rescue task for the underground disaster is to guide survivors in getting away from the dangerous area quickly. To address the issue, an escape guidance path developing method is proposed based on anisotropic underground wireless sensor networks under the condition of sparse anchor nodes. Firstly, a hybrid channel model was constructed to reflect the relationship between distance and receiving signal strength, which incorporates the underground complex communication characteristics, including the analytical ray wave guide model, the Shadowing effect, the tunnel size, and the pene

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Inostroza, Felipe, Isao Parra-Tsunekawa, and Javier Ruiz-del-Solar. "Robust Localization for Underground Mining Vehicles: An Application in a Room and Pillar Mine." Sensors 23, no. 19 (2023): 8059. http://dx.doi.org/10.3390/s23198059.

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Most autonomous navigation systems used in underground mining vehicles such as load–haul–dump (LHD) vehicles and trucks use 2D light detection and ranging (LIDAR) sensors and 2D representations/maps of the environment. In this article, we propose the use of 3D LIDARs and existing 3D simultaneous localization and mapping (SLAM) jointly with 2D mapping methods to produce or update 2D grid maps of underground tunnels that may have significant elevation changes. Existing mapping methods that only use 2D LIDARs are shown to fail to produce accurate 2D grid maps of the environment. These maps can be

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Wan, Jicheng, Xuhui Zhang, Chao Zhang, et al. "Vision and Inertial Navigation Combined-Based Pose Measurement Method of Cantilever Roadheader." Sustainability 15, no. 5 (2023): 4018. http://dx.doi.org/10.3390/su15054018.

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Pose measurement of coal mine excavation equipment is an important part of roadway excavation. However, in the underground mining roadway of coal mine, there are some influencing factors such as low illumination, high dust and interference from multiple equipment, which lead to the difficulty in the position and pose measurement of roadheader with low measurement accuracy and poor stability. A combination positioning method based on machine vision and optical fiber inertial navigation is proposed to realize the position and pose measurement of roadheader and improve the accuracy and stability

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Yulong, Qi, Meng Qingyong, and Tian Xu. "Research on Navigation Path Planning for An Underground Load Haul Dump." Journal of Engineering Science and Technology Review 8, no. 5 (2015): 102–9. http://dx.doi.org/10.25103/jestr.085.14.

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YAMAMOTO, Yojiro, Toru HAGIWARA, Takeo ADACHI, Seiichi KAGAYA, and Ken-etsu UCHIDA. "A Study on Directional Navigation of Pedestrian down to the Underground." INFRASTRUCTURE PLANNING REVIEW 21 (2004): 709–15. http://dx.doi.org/10.2208/journalip.21.709.

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Xue, Guanghui, Ruixue Li, Shuang Liu, and Jinbo Wei. "Research on Underground Coal Mine Map Construction Method Based on LeGO-LOAM Improved Algorithm." Energies 15, no. 17 (2022): 6256. http://dx.doi.org/10.3390/en15176256.

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The application of intelligent equipment and technologies such as robots and unmanned vehicles is an important part of the construction of intelligent mines, and has become China’s national coal energy development strategy and the consensus of the coal industry. Environment perception and instant positioning is one of the key technologies destined to realize unmanned and autonomous navigation in underground coal mines, and simultaneous location and mapping (SLAM) is an effective method of deploying this key technology. The underground space of a coal mine is long and narrow, the environment is

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Dong, Chun Hua, Jian Ping Hu, and Li Wang. "Application of a Virtual Geosciences Modeling System in Digital City Construction." Applied Mechanics and Materials 20-23 (January 2010): 1311–14. http://dx.doi.org/10.4028/www.scientific.net/amm.20-23.1311.

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This document puts forward a new method for solving the modeling of overground and underground entities and spatial analysis provided by the virtual reality technology (VR). The new method can construct virtual urban geological environment, realize the integrated modeling of overground and underground entities, and research the interactive functions such as 2D-digital map navigation and spatial query in the virtual environment, which provides the decision making platform of three-dimension visualization for urban planning, urban construction and urban management, and is a good foundation for c

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Zhao, Wen Tao, and Rui Hu. "The Underground Mobile Intelligent Information Terminal System Based on WIFI." Applied Mechanics and Materials 143-144 (December 2011): 800–803. http://dx.doi.org/10.4028/www.scientific.net/amm.143-144.800.

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The implementation of WIFI technology in underground mobile intelligent information terminal system(UMIITS) was studied in this paper. Because of using Mine Information Service Center as the core and handheld intelligent terminal as the platform, this system can realize the query and feedback of the mine production and safety information. Miner's position and navigation, the level of production informatization would be improved with it.

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Jia, Zhiwei, Haohui Liu, Haoliang Zheng, Shaosheng Fan, and Zheng Liu. "An Intelligent Inspection Robot for Underground Cable Trenches Based on Adaptive 2D-SLAM." Machines 10, no. 11 (2022): 1011. http://dx.doi.org/10.3390/machines10111011.

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With the rapid growth of underground cable trenches, the corresponding inspections become a heavy burden, and an intelligent inspection robot for automatic examinations in underground cable trenches would be a suitable solution. To achieve this, this paper establishes one new navigation methodology for intelligent inspection robots, especially when applied in complex scenarios and the corresponding hardware. Firstly, to map the underground trenches with higher precision, an improved graph optimization cartographer-SLAM algorithm is proposed, which is based on the combination of depth camera an

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Yao, Xiao Peng, and Li Zeng. "Experiment Study of AGV Navigation Based on Multi-Sensor." Advanced Materials Research 472-475 (February 2012): 484–87. http://dx.doi.org/10.4028/www.scientific.net/amr.472-475.484.

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Automated guided vehicle (AGV) is a kind of wheeled mobile robot, which used for the internal and external transport of materials from one place to another in flexible manufacture system (FMS). AGV are also used for repeating transportation tasks in other areas, such as warehouses, container terminals and external (underground) transportation systems. The AGV navigation algorithms are classiﬁed as global or local, depending on surrounding environment. In global navigation, the environment surrounding the AGV is known and the path which avoids the obstacle is selected. In local navigation, the

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Stylianidis, E., E. Valaria, K. Smagas, et al. "LBS AUGMENTED REALITY ASSISTIVE SYSTEM FOR UTILITIES INFRASTRUCTURE MANAGEMENT THROUGH GALILEO AND EGNOS." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLI-B1 (June 6, 2016): 1179–85. http://dx.doi.org/10.5194/isprsarchives-xli-b1-1179-2016.

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There is a continuous and increasing demand for solutions, both software and hardware-based, that are able to productively handle underground utilities geospatial data. Innovative approaches that are based on the use of the European GNSS, Galileo and EGNOS, sensor technologies and LBS, are able to monitor, document and manage utility infrastructures’ data with an intuitive 3D augmented visualisation and navigation/positioning technology. A software and hardware-based system called LARA, currently under develop- ment through a H2020 co-funded project, aims at meeting that demand. The concept of

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