Mining machine orientation using inertial, magnetic, and gravitational sensors

Abstract

An onboard navigation system is under investigation for mining machines. The system is intended for use in autonomous mining operations. The system provides heading information using a gyroscope, two flux-gate sensors, and clinometers. Testing has shown that the flux-gate sensors exhibit a static error when mounted on the mining machine. Recalibration of the sensor improved this situation. The gyroscope operated properly when mounted on the machine but required resetting with the flux-gate sensors or with data from the mobile control systems (MCS) every 14 min, due to inherent drifts.<>