Navigation system for heading machines in potash mines

2021 ◽  
pp. 92-96
Author(s):  
L. Yu. Levin ◽  
D. S. Kormshchikov ◽  
E. G. Kuzminykh ◽  
A. M. Machеret
Keyword(s):  
Navigation System ◽  
Underground Mining ◽  
Inertial Navigation ◽  
Underground Mines ◽  
Navigation Systems ◽  
Labor Costs ◽  
Mining Operations ◽  
Technical Requirements ◽  
Mine Surveying ◽  
Machine Operator

Mining operations at potash mines are carried out by heading machines. Setting of a direction and control of the movement of the machines is carried out by the mine surveyor and by the machine operator in the manual mode. The lack of automation of this process during production leads to large labor costs of the mine surveying service, while the experience of the machine operator affects accuracy of maintenance of a specified course. Currently, there are no ready-made technical products for automating the process of setting the course and controlling the movement of heading machines. This paper deals with the implementation of the navigation system for heading machines in the underground mines of Uralkali company. At the mines of Uralkali, the requirements for the accuracy of such a system are dictated by the requirements for the accuracy of mine surveying support for underground mining operations in driving new roadways. Possible ways of constructing navigation systems and the problems of their application are considered. The analysis of the existing methods shows that the most promising option for navigation of heading machines in underground mine openings are the systems based on the principles of inertial navigation. To use such systems in underground mines and to ensure the required accuracy, the technical requirements for the systems are formulated. It is shown that modern strapdown inertial navigation systems satisfy the required accuracy. On their basis, a prototype of the heading machine navigation system was developed, and its ground tests were carried out. The achieved accuracy of the system makes it possible to proceed to testing of a real heading machine in a mine. The study was supported by the Russian Science Foundation, Project No. 19-77-30008.

Aided Inertial Navigation System Solutions: Application for Synthetic Aperture Sonar

2006 ◽  
Author(s):  
Ursula Ho¨lscher-Ho¨bing ◽  
Mikael Bliksted Larsen
Keyword(s):  
Real Time ◽  
Navigation System ◽  
Autonomous Navigation ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Synthetic Aperture ◽  
Navigation Systems ◽  
Synthetic Aperture Sonar ◽  
Technical Requirements ◽  
Modern Development

Future naval systems for MCM will include a family of advanced underwater vehicles: AUV’s, towed vehicles, inspection ROV’s, expendable mine disposal vehicles etc. Navigation system technical requirements range from low cost for disposable vehicles in high quantity production to state-of-the-art autonomous navigation in support of AUV’s and high resolution Synthetic Aperture Sonar (SAS) for mine hunting. Using modern development tools and floating point embedded processors it was possible to create a generic implementation of the conventional Aided Inertial Navigation System (AINS) framework. The proven framework and real-time embedded software/hardware ensures optimum fit of navigation systems technical requirements via complete freedom in choice of navigation sensors, aiding techniques and operational procedures. This paper describes the underlying navigation system framework and in particular the first real-time embedded application within an underwater vehicle: Extremely high performance relative navigation in support of SAS processing for detection of buried mines.

scholarly journals Geological CO2 quantified by high-temporal resolution stable isotope monitoring in a salt mine

2020 ◽  
Vol 10 (1) ◽  
Author(s):  
Alexander H. Frank ◽  
Robert van Geldern ◽  
Anssi Myrttinen ◽  
Martin Zimmer ◽  
Johannes A. C. Barth ◽  
...  
Keyword(s):  
Temporal Resolution ◽  
Underground Mining ◽  
Stable Carbon Isotope ◽  
Underground Mines ◽  
Background Concentration ◽  
High Temporal Resolution ◽  
Salt Mine ◽  
Gas Migration ◽  
Mining Operations ◽  
Anthropogenic Contributions

AbstractThe relevance of CO2 emissions from geological sources to the atmospheric carbon budget is becoming increasingly recognized. Although geogenic gas migration along faults and in volcanic zones is generally well studied, short-term dynamics of diffusive geogenic CO2 emissions are mostly unknown. While geogenic CO2 is considered a challenging threat for underground mining operations, mines provide an extraordinary opportunity to observe geogenic degassing and dynamics close to its source. Stable carbon isotope monitoring of CO2 allows partitioning geogenic from anthropogenic contributions. High temporal-resolution enables the recognition of temporal and interdependent dynamics, easily missed by discrete sampling. Here, data is presented from an active underground salt mine in central Germany, collected on-site utilizing a field-deployed laser isotope spectrometer. Throughout the 34-day measurement period, total CO2 concentrations varied between 805 ppmV (5th percentile) and 1370 ppmV (95th percentile). With a 400-ppm atmospheric background concentration, an isotope mixing model allows the separation of geogenic (16–27%) from highly dynamic anthropogenic combustion-related contributions (21–54%). The geogenic fraction is inversely correlated to established CO2 concentrations that were driven by anthropogenic CO2 emissions within the mine. The described approach is applicable to other environments, including different types of underground mines, natural caves, and soils.

An Improved and Efficient Algorithm for SINS/GPS/Doppler Integrated Navigation Systems

2012 ◽  
Vol 245 ◽  
pp. 323-329 ◽  
Author(s):  
Muhammad Ushaq ◽  
Jian Cheng Fang
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Sensor ◽  
Inertial Navigation ◽  
Measurement Unit ◽  
Navigation Systems ◽  
Integrated Navigation ◽  
Efficient Manner ◽  
Position Errors

Inertial navigation systems exhibit position errors that tend to grow with time in an unbounded mode. This degradation is due, in part, to errors in the initialization of the inertial measurement unit and inertial sensor imperfections such as accelerometer biases and gyroscope drifts. Mitigation to this growth and bounding the errors is to update the inertial navigation system periodically with external position (and/or velocity, attitude) fixes. The synergistic effect is obtained through external measurements updating the inertial navigation system using Kalman filter algorithm. It is a natural requirement that the inertial data and data from the external aids be combined in an optimal and efficient manner. In this paper an efficient method for integration of Strapdown Inertia Navigation System (SINS), Global Positioning System (GPS) and Doppler radar is presented using a centralized linear Kalman filter by treating vector measurements with uncorrelated errors as scalars. Two main advantages have been obtained with this improved scheme. First is the reduced computation time as the number of arithmetic computation required for processing a vector as successive scalar measurements is significantly less than the corresponding number of operations for vector measurement processing. Second advantage is the improved numerical accuracy as avoiding matrix inversion in the implementation of covariance equations improves the robustness of the covariance computations against round off errors.

Initial Alignment of a Moving Inertial Navigation System

1960 ◽  
Vol 13 (3) ◽  
pp. 301-315
Author(s):  
Richard B. Seeley ◽  
Roy Dale Cole
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Local Level ◽  
Inertial Navigation ◽  
Navigation Systems ◽  
Velocity Measurements ◽  
Initial Alignment ◽  
Inertial Navigation Systems ◽  
Error Sources ◽  
China Lake

This paper describes and discusses some of the techniques by which a moving inertial platform may be aligned by using external velocity measurements and also presents some of the major problems and error sources affecting such alignment. It is based upon the results of a 3-year study, of inertial and doppler-inertial navigation at the Naval Ordnance Test Station, China Lake, California, and, in general, applies to inertial navigation systems which erect to either the local level or the mass-attraction vertical. Although rudimentary derivations are made of the alignment techniques, the paper is largely nonmathematical for ease of reading. Emphasis is placed upon the major errors affecting the alignment. This paper describes and discusses some of the techniques by which a moving inertial platform may be aligned by using external velocity measurements and also presents some of the major problems and error sources affecting such alignment. It is based upon the results of a 3-year study, of inertial and doppler-inertial navigation at the Naval Ordnance Test Station, China Lake, California, and, in general, applies to inertial navigation systems which erect to either the local level or the mass-attraction vertical. Although rudimentary derivations are made of the alignment techniques, the paper is largely nonmathematical for ease of reading. Emphasis is placed upon the major errors affecting the alignment.

Problem of the Vertical Deflection in High-Precision Inertial Navigation

2020 ◽  
Vol 28 (4) ◽  
pp. 3-15
Author(s):  
V.G. Peshekhonov ◽  
◽  
Keyword(s):  
Systematic Error ◽  
High Precision ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Reference Ellipsoid ◽  
Navigation Systems ◽  
Vertical Deflection ◽  
Inertial Navigation Systems ◽  
Output Data

The paper addresses the systematic error of an inertial navigation system, caused by the discrepancy between the plumb line and the normal to the reference ellipsoid surface. The methods of this discrepancy estimation, and their use for correcting the output data of inertial navigation systems are studied.

scholarly journals Multi-Instance Inertial Navigation System for Radar Terrain Imaging

2020 ◽  
Vol 12 (21) ◽  
pp. 3639
Author(s):  
Michal Labowski ◽  
Piotr Kaniewski
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Navigation Systems ◽  
Time Duration ◽  
Navigation Data ◽  
Positioning Errors ◽  
Measurement Session ◽  
Single Aperture ◽  
Gps System

Navigation systems used for the motion correction (MOCO) of radar terrain images have several limitations, including the maximum duration of the measurement session, the time duration of the synthetic aperture, and only focusing on minimizing long-term positioning errors of the radar host. To overcome these limitations, a novel, multi-instance inertial navigation system (MINS) has been proposed by the authors. In this approach, the classic inertial navigation system (INS), which works from the beginning to the end of the measurement session, was replaced by short INS instances. The initialization of each INS instance is performed using an INS/GPS system and is triggered by exceeding the positioning error of the currently operating instance. According to this procedure, both INS instances operate simultaneously. The parallel work of the instances is performed until the image line can be calculated using navigation data originating only from the new instance. The described mechanism aims to perform instance switching in a manner that does not disturb the initial phases of echo signals processed in a single aperture. The obtained results indicate that the proposed method improves the imaging quality compared to the methods using the classic INS or the INS/GPS system.

An Accuracy Evaluation of a Civil Inertial Navigation System

1967 ◽  
Vol 20 (4) ◽  
pp. 449-463
Author(s):  
P. R. J. Reynolds
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Federal Aviation Administration ◽  
Civil Aviation ◽  
Accuracy Evaluation ◽  
Navigation Systems ◽  
Evaluation Programme ◽  
Primary Object ◽  
Normal Manner

This paper covers the performance of the Sperry SGN-10 Inertial Navigation System as demonstrated by the operation of dual systems installed in a standard operational configuration aboard four jet aircraft of Pan American World Airways incidental to a preoperational engineering evaluation programme conducted for the Federal Aviation Administration during the latter part of 1966. The primary object of this evaluation programme was to determine the system's capability of meeting the following requirements of the F.A.A.'s Advisory Circular covering the use of inertial navigation systems in U.S.- registered civil aircraft, namely:(1) Maintain a position accuracy within 20 n.m. in the across-track dimension and 25 n.m. in the along-track dimension for 95 per cent of the time on flights up to and including ten hours duration.(2) Automatically accomplish initial platform alignment in a normal manner in latitudes up to and including the highest normally used in civil aviation.(3) Perform all its designed navigational functions in a normal manner at all latitudes, inclusive of polar and equatorial overflights.

Modelling of Influence of Hypersonic Conditions on Gyroscopic Inertial Navigation Sensor Suspension

2017 ◽  
Vol 24 (2) ◽  
pp. 357-368 ◽  
Author(s):  
Igor Korobiichuk ◽  
Volodimir Karachun ◽  
Viktorij Mel’nick ◽  
Maciej Kachniarz
Keyword(s):  
Navigation System ◽  
Oscillation Frequency ◽  
Measurement Errors ◽  
Acoustic Radiation ◽  
Infinite Plate ◽  
Inertial Navigation ◽  
Finite Size ◽  
Elastic Interaction ◽  
Navigation Systems ◽  
Operational Conditions

AbstractThe upcoming hypersonic technologies pose a difficult task for air navigation systems. The article presents a designed model of elastic interaction of penetrating acoustic radiation with flat isotropic suspension elements of an inertial navigation sensor in the operational conditions of hypersonic flight. It has been shown that the acoustic transparency effect in the form of a spatial-frequency resonance becomes possible with simultaneous manifestation of the wave coincidence condition in the acoustic field and equality of the natural oscillation frequency of a finite-size plate and a forced oscillation frequency of an infinite plate. The effect can lead to additional measurement errors of the navigation system. Using the model, the worst and best case suspension oscillation frequencies can be determined, which will help during the design of a navigation system.

Enhanced Accuracy Navigation Solutions Realized through SINS/GPS Integrated Navigation System

2013 ◽  
Vol 332 ◽  
pp. 79-85
Author(s):  
Outamazirt Fariz ◽  
Muhammad Ushaq ◽  
Yan Lin ◽  
Fu Li
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Sensor ◽  
Inertial Navigation ◽  
Measurement Unit ◽  
Navigation Systems ◽  
Integrated Navigation ◽  
Position Errors ◽  
Strapdown Inertial Navigation

Strapdown Inertial Navigation Systems (SINS) displays position errors which grow with time in an unbounded manner. This degradation is due to the errors in the initialization of the inertial measurement unit, and inertial sensor imperfections such as accelerometer biases and gyroscope drifts. Improvement to this unbounded growth in errors can be made by updating the inertial navigation system solutions periodically with external position fixes, velocity fixes, attitude fixes or any combination of these fixes. The increased accuracy is obtained through external measurements updating inertial navigation system using Kalman filter algorithm. It is the basic requirement that the inertial data and data from the external aids be combined in an optimal and efficient manner. In this paper an efficient method for integration of Strapdown Inertial Navigation System (SINS), Global Positioning System (GPS) is presented using a centralized linear Kalman filter.

scholarly journals JUSTIFICATION OF UNDERGROUND TECHNOLOGY OF PLACER GOLD MINING IN THE FAR NORTH

2021 ◽  
Vol 2 (3) ◽  
pp. 342-353
Author(s):  
Alexander M. Nikol’sky ◽  
Sergey A. Shchukin ◽  
Anton I. Konurin
Keyword(s):  
Underground Mining ◽  
Gold Deposits ◽  
The Arctic ◽  
Labor Costs ◽  
Mining Operations ◽  
Strategic Development ◽  
Placer Gold ◽  
Far North ◽  
Additional Support ◽  
Gold Bearing

A significant part of placer mineral deposits in the Arctic zone of Russia urges the need for its strategic development in the near and medium term. Applicably to underground mining of placer gold deposits, the problems of safe and efficient extraction of minerals by mines in the conditions of the Far North are considered. A substantiated choice of uncovering and mining technology for gold-bearing sand strata is proposed in the context of rational planning of mining operations associated with minimizing material and labor costs for uncovering and extracting a part of the deposit, as well as completeness of reserves depletion during the operational period. Safe parameters of structural elements of room mining systems have been determined by geomechanical assessments. Methods for additional support of the roof of mined-out rooms are proposed. The indicators of losses and dilution of gold-bearing sands in accordance with the sources of their formation were determined by the graphoanalytical method.

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