Solving the problem of odometric positioning of a mining machine underground using the Kalman filter

Abstract

A new approach to the problem of odometric positioning of a mining machine under the ground is proposed. As a technical solution to the task, the use of BLE (Bluetooth Low Energy) technology is proposed. Bluetooth beacons will be dropped as the combine moves. A sensor attached to the back of the transfer hopper will measure the distance to the nearest beacon. A model is created that simulates random speeds of the combine’s movement on sections of random length. Random dispersion when dropping Bluetooth beacons is simulated. To generate sensor measurements, an algorithm is being developed that takes into account the increase in the error of readings when moving away from the nearest dropped beacon. To process the simulated measurements and correctly determine the distance, the Kalman filtering algorithm is used. The proposed approach and the created simulation model allow, with a given degree of accuracy, to determine and predict the distance to the mining machine during the development of industrial seams.