Speed Sensor-Aided Navigation Filter for Robust Localization in GNSS-Denied Mining Environments

Abstract The automation of mining haulage vehicles has great potential in terms safety and economy. performance autonomous depends largely on highly accurate vehicle state information. Deep mines are especially challenging, as satellite-based localization methods reaching their limits. Therefore, we introduce a new navigation filter concept for the precise robust fleet that can handle temporary GNSS interruptions deep open-pit mines. multi-sensor utilizes an inertial measurement unit is aided by GNSS. We optical speed sensor update within tightly coupled unscented Kalman filter. measures slip-free two-dimensional above ground. was validated with articulated dumper gravel pit. achieved mean position error 0.24 m during test drive 190 s simulated outage 90 s.