Development and evaluation of a UWB-based indoor positioning system for underground mine environments

Accurate positioning information is a central step in the process of increasing automation and digitalization in the mining industry. Underground mine environments are prime examples for GNSS-denied environments that pose several additional challenges for the employed indoor positioning system (IPS). This work presents an ultra-wideband (UWB)- based system specifically tailored for underground mine environments. Initially, the UWB technology is reviewed and basic concepts of IPS are explained. Both software and hardware are described in detail, including positioning algorithms, electrical circuitry and the mining-compatible enclosure. Finally, the results from field tests in an underground mine are presented and positioning performance and the influence of dilution of precision (DOP) on positioning results are empirically evaluated. The results show that the localization errors are mostly below 1 m. Individual zones of high localization errors are suspected to be caused by noise interference. Significant DOP influence due to the mining drift geometry can be confirmed. The system shows promising localization results for different mining applications, while influences negatively impacting the accuracy are presented as items for future research.