Position and Heading Determination of a Continuous Mining Machine Using an Angular Position Sensing System.
Proc the Ninth WVU Int'l Mining Electrotechnology Conf 1988 :7 pages
A system to determine the position and heading of a continuous mining machine during the maneuvers required at the face area of a mine is described. The system incorporates commercially available angular position sensors with a computer interface developed and tested at the U.S. Bureau of Mines. The sensors employed are laser- based scanning devices that report the angular location of retroreflective targets within their 90 deg. Field of view. The targets are mounted on the continuous mining machine; the laser scanners are mounted on an external reference structure. The computer interface consists of a single-board computer-controller programmed to gather and process the angular position information, and to calculate the machine's position and heading relative to the reference structure. A sensor fusion algorithm will be incorporated into the computer interface programming to increase the accuracy and reliability of the system. As an introduction, the role of the position and heading determination system is illustrated in a brief description of the overall autonomous navigation scheme.
Proc. the Ninth WVU Int'l Mining Electrotechnology Conf., 1988, PP. 229-235