Wireless Ad hoc System for Positioning – Effective Equipment and Personnel Location for Mining Operations

Tracking plant and personnel in mining operations provides multiple potential benefits for a mine including improved safety, better monitoring of production, traffic control and, in the future, monitoring and control of autonomous vehicles. The main techniques currently proposed and used for wireless tracking are radio frequency identification (RFID), signal strength based techniques and time of arrival (TOA) based techniques. RFID provide poor accuracy in the complex radio propagation environment present in mines and does not provide continuous tracking and signal strength techniques. TOA based techniques are potentially the most accurate, however, most current equipment has not realised the potential of the technique. CSIRO has been developing the Wireless Ad hoc System for Positioning (WASP) system for wireless tracking in a range of challenging environments including underground mines and surface operations, where GPS reception is compromised by depth. The system utilises a number of ‘anchor nodes’ that are placed at fixed and known locations within the mine and tags attached to the plant or personnel to be tracked. The system provides an ad hoc data communication network, thus, wired data connections are not required to the anchor nodes. WASP uses transmissions in the 5.8 GHz ISM (instrumentation, scientific and medical) frequency spectrum to perform highly accurate ranging between nodes, hence tracking of tags. The localisation performance of the system depends upon the radio propagation environment, ranging down to 0.1 m in low multipath conditions. In this paper we describe the WASP system and provide results of testing in underground and surface operations showing the system achieving high ranging, hence localisation, accuracy.