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Improving the Accuracy for Radio-Based Positioning in Mines Using SLAM

  • During the day-to-day exploitation of localization systems in mines, the technical staff tends to incorrectly rearrange radio equipment: positions of devices may not be accurately marked on a map or their positions may not correspond to the truth. This situation may lead to positioning inaccuracies and errors in the operation of the localization system.This paper presents two Bayesian algorithmsDuring the day-to-day exploitation of localization systems in mines, the technical staff tends to incorrectly rearrange radio equipment: positions of devices may not be accurately marked on a map or their positions may not correspond to the truth. This situation may lead to positioning inaccuracies and errors in the operation of the localization system.This paper presents two Bayesian algorithms for the automatic corrections of positions of the equipment on the map using trajectories restored by the inertial measurement units mounted to mobile objects, like pedestrians and vehicles. As a basis, a predefined map of the mine represented as undirected weighted graph was used as input. The algorithms were implemented using the Simultaneous Localization and Mapping (SLAM) approach.The results prove that both methods are capable to detect misplacement of access points and to provide corresponding corrections. The discrete Bayesian filter outperforms the unscented Kalman filter, which, however, requires more computational power.‚Ķshow moreshow less

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Metadaten
Author:Dmitry Larionov, Oleg Lukashenko, Alex Moschevikin, Roman Voronov, Axel SikoraORCiDGND
Creating Corporation:IEEE
Year of Publication:2020
Page Number:7
ISBN:978-1-7281-9960-3 (digital)
ISBN:978-1-7281-9961-0 (Print on Demand)
Language:English
Parent Title (English):IEEE IDAACS-SWS 2020 : Conference Proceedings
Document Type:Conference Proceeding
Institutes:Bibliografie
Open Access:Zugriffsbeschränkt
Release Date:2021/01/18
Licence (German):License LogoEs gilt das UrhG
Note:
Konferenz: 2020 IEEE 5th International Symposium on Smart and Wireless Systems within the Conferences on Intelligent Data Acquisition and Advanced Computing Systems (IDAACS-SWS), 17-18 Sept. 2020, Dortmund, Germany
DOI:https://doi.org/10.1109/IDAACS-SWS50031.2020.9297088