Third d Gener eration n Position oning ng System em for U - - PowerPoint PPT Presentation

Bingh inghao ao Li Li1, K Kai ai Zhao hao2, , Ser erkan an Say aydam am2, Chr hris is Riz izos

• s3, Jian

ian Wang ang 4, , Qiang iang Wang ang5

1Schoo

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l of

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lectrical al Engin nginee eerin ing & Telec elecom

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2Scho

hool

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• f Mining E

ining Engine ngineering, ,

3Schoo

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ivil il & Env nvir ironmental Engine ngineerin ing, g, UNSW, A Aus ustral alia ia

4Scho

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nvir ironment Scien ience e and and Spat patial l Inf nfor

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atics,

5 Colleg

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pplied d Scienc ience and and Tec echno hnolo logy, CUMT, China, hina,

Third d Gener eration n Position

• ning

ng System em for U Undergroun und d Mine E Environm nments: An An upda update on pr

• n prog
• gress

OUTLIN

INE

• Introduction
• Potential Technologies
• Feasibility test
• Approaches Comparison
• Future works

Introd

• duc

ucti tion

• n :

Pos

• sitioni

ning ng Tec echno hnologi gies es i in n Mini ning Indus ng Industry

• The safety of mine workers is one of the highest priorities
• f the mining industry
• “Golden 72 hours” for workers escape from a mine

disaster.

• GNSS system for open-pit mines
• Current positioning system in underground mine

 RFID  Zigbee+WiFi  Wireless Ad-hoc System for Positioning

Requirements for a new generation system

• High accuracy
• Less pre-deployed facilities
• Power efficient
• High Reliability/Robustness
• Real time Positioning on server & end device

A Survey of Potential Positioning Approaches for Underground Mines

• Passive RFID
• Inertial Measurement Unit (IMU) √
• Received Signal Strength(RSS) based Positioning
• Bluetooth Low Energy √
• Zigbee
• Active RFID
• Ultra-wideband (UWB) √
• Magnetic Field strength pattern matching √
• Very-low frequency (VLF) electromagnetic waves

Experiments for performance evaluation of positioning approaches

• Features of the environment
• f a underground mine
• Tunnels
• Large scale
• Current Testbed
• Low ground in old main

building, UNSW

UWB Test

• Ranging Test

10 20 30 40 50 60 70 80 90 50 100

Measurment (m)

0.2 0.4

Error (m)

true range measured range rms mean error

UWB Test

Test in in NLOS propagation scenarios

0.25m Base station Rover 0.48m 2.5m 1.54m 6.14m2 .5m

True r e range e (m) 1.54(thin in w wall) ll) 4.04(t 4.04(thin w wall) 6.14(thick wall) ll) 10.1 0.18(t 8(two walls) Me Mean e err rror( r(m) 0.46 0.64 0.42 0.70 RMS MS(m) 0.49 0.65 0.42 0.71

UWB Test

UWB Test with different traffic situation:

Quiet Heavy traffic Less traffic

2 4 6 8 10 12 time (min) 23.4 23.6 23.8 24 24.2 24.4 24.6 24.8 25 25.2 25.4 measurements (m)

RSS-based positioning Test (BLE)

10 20 30 40 50 60 70 80 90

Distance (m)

• 100
• 90
• 80
• 70
• 60
• 50
• 40
• 30

Signal strength (dbm)

• Signal strength

fluctuation

• Multi path of signal

propagation

Single transmitter ranging test:

RSS-based positioning Test (BLE)

20 40 60 80 100 120 140

Time (s)

• 100
• 90
• 80
• 70
• 60
• 50
• 40

Signal strength (dbm)

mac1 mac2 mac3 mac4 mac5 mac6 mac7 mac8

Multi transmitters :

RSS-based positioning Test (BLE)

20 40 60 80 100 120 140

Time (s)

10 20 30 40 50 60 70 80 90

Distance (m)

Estimated range Ture range

Multi transmitters positioning test:

IMU Positioning Test:

Trajactory after applying map matching Original PDR trajactory

Magnetic field strength pattern matching

Limitations if it were applied in a mine

• 1. Pre-established database
• 2. Two vectors of Magnetic data
• 3. Irregular movement

Could work as a supplementary approach in a positioning system.

500 1000 1500 2000 2500 3000 3500

Conclusion:

Comparison of Approaches

Cu Current Con

• nsump

mption

• n

Robust stness ss Accur curacy cy Comp

• mputation
• n

comp

• mplexity

UWB Tens of mA High < 1m Low RSS-based RF system(BLE) A few mA High 2-3m Low IMU < 1 mA Requires periodic initialization

• Medium

Magnetic Pattern Matching A few mA Low

• Medium/High

Future work

• Hybrid Positioning Algorithm development
• Field test in real mines
• Prototype development

THA

HANK NKS

Questions