Position and Heading Determination of a Continuous Mining Machine Using an Angular Position-sensing System.
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This U.S. Bureau of Mines report describes a system to determine the position and heading of a continuous mining machine during the maneuvers required at the face area of a mine. The system consists of commercially available angular position sensors and a computer interface developed and tested at the Bureau. 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.
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