Search Documents

By A. S. Winters

INTRODUCTION Homestake Mining Co. owns and operates the Bull¬dog Mountain mine near Creede, CO. Lead-silver con¬centrates are produced from ores extracted from narrow veins which dip from 1.04 to 1.39 rad (60 to 80°). An¬nual mill throughput is approximately 90 700 t (100,000 st). Ore shoots average 2 m (7 ft) in width and the ore is often weak, muddy, and poorly consolidated. Walls can be either strong or highly fractured along the strike of the veins. Cut-and-fill methods were initially selected to mine the deposit and considerable overhand mining occurred during the initial stages of the mine. Because of un¬stable ground conditions, mine management recognized that other methods would have to be employed. Undercut-and-fill mining was adapted to extract the loose ore from narrow veins and is presently the primary method used. Approximately 80% of the annual pro¬duction is extracted by this system. Loading ramps are positioned along the strike of the vein on 90-m (300-ft) intervals to allow for 45-m (150-ft) long cuts in each direction from the extraction raise. This interval was selected for efficient slusher operation and stope cycling. Loading ramps rather than chutes were selected for ore movement into 4.5-t (5-st) Granby-type cars because of extremely sticky ore conditions. Mined-out areas are filled with deslimed mill sands. Sand is pumped from the mill into two mine storage dams where the water is decanted. Each dam has a 544-t (600-st) capacity. Sand is pumped into the mine at a 30 to 40% slurry through 2195 m (7200 ft) of 51-mm (2-in.) thick wall pipe. When called for, sand is reslurried within the dams to a density of 55 to 65% and pumped to the particular mine opening requiring fill. Dry cement is added to the slurry prior to pumping. The capacity of the mine fill system is 20 t/h (22 stph). DEVELOPMENT Vertical development below the main adit level oc¬curs on 61-m (200-ft) intervals from an internal winze. Main haulage drifts or laterals are 2.7 x 2.7 m (9 x 9 ft) in section and driven parallel to the vein structures. Ground conditions generally dictate that better progress can be realized in the footwall than in the hanging wall. A distance of approximately 21 m (70 ft) is maintained between vein and drift openings to accommodate a smooth 18-m (60-ft) radius curve for crosscuts which are driven on 91-m (300-ft) intervals. Approximately 18 m (60 ft) of tail room is driven past the vein inter¬section to accommodate train loading. Ore and waste are hauled using diesel or electric driven locomotives operating over 18-kg (40-Ib) rail [762-mm (30-in.) gage]. Loading ramps are established above each crosscut¬ vein intersection. Scram drifts are then driven in the vein to determine the width and grade of the ore. If a prior decision to mine the block had been reached, then the scram is driven only far enough [about 12 m (40 ft)] to establish a drawpoint and scraper tail room. In most cases, the drawpoint is a 2.1 x 2.1-m (7 x 7-ft) cutout driven about 2.4 m (8 ft) into the footwall. On the level above, a raise bore station is established in the footwall to one side of the crosscut-vein inter¬section. The station is of sufficient size to accommo¬date a Robbins 41R raise boring machine. Support for the station is accomplished with 1.2 and 1.8-m (4 and 6-ft) roof bolts and wire screening. Once completed, a 152-mm (6-in.) concrete slab is poured and the raise drill set in position to center the 1.5-m (5-ft) diam hole approximately 1.8 m (6 ft) from the vein footwall. A 229-mm (9-in.) pilot hole is then drilled to the scram cutout below and reamed back to full diameter (see Fig. 1). STOPING Initial mining in a typical undercut-and-fill stope be¬gins from the top of the borehole. The initial cut can be either immediately beneath the track level or the old scram drift depending upon the particular situation. Cuts vary but are generally 2.4 to 3 m (8 to 10 ft) high. Support is accomplished by square-set timber, overhead caps, or roof bolts and screening depending upon ground conditions. Once the initial cut is removed, underhand timber and screen is installed and cemented sand fill placed. The stope is then ready for undercut mining. Prepara¬tion work begins with sinking 4.5 to 6 m (15 to 20 ft) on the borehole plus cutting a slot to the vein. As sinking progresses, hanging sets are installed to provide man¬way and service facilities. Hanging sets 1.7 m (5 ft 8 in.) long and 1.6 x 2.2 m (5 ft 4 in. x 7 ft 4 in.) in section are installed with steel hangers similar to shaft sets. Framed 203 x 203-mm (8 x 8-in.) timbers are made up in advance and shipped to the stope during sinking operations. When manway and service facilities are completed to the floor of cut to be mined, generally 3.65 to 4.3 m (12 to 14 ft) below the previous sand fill, the ore is removed to the hanging wall plus a round each way along the vein. Levelers or long stringers are then installed over the raise opening to support the work deck, slusher, and grizzly opening. All waste and ore from the sinking process is fed by gravity to the raise (see Fig. 2). Once the stope is equipped, mining pro¬gresses outward in each direction from the grizzly open¬ing. Stope equipment consists of 907 kg (2000 lb) pull air tuggers, timber skips, 11-kW (15-hp) ventilation fans, 15 to 22-kW (20 to 30-hp) electric slushers, 762 to 1270-mm (30 to 50-in.) scrapers, 67-mm (25/a-in. ) jackleg drills, as well as other drilling and blasting supplies. In narrow stopes [generally less than 2 m (7 ft) wide], no support is required for the underhand caps of the previous fill. Where wide sections in the vein occur, segment braces are installed beneath the caps to insure that the sand support cannot slip away from the hanging wall. Sections as great as 6 m (20 ft) wide and 4.5 m

Jan 1, 1982

By S. A. Tims

INTRODUCTION The Falconbridge mine ore body extends about 1.6 km (1 mile) in length and the deepest developed ore is on the 6050 level below surface. The ore zone varies in width from a few inches to over 30 m (100 ft) and the average width is 4.9 m (16 ft). Access levels are driven in the ore at 53.3-m (175-ft) intervals. The principal method of mining is overhand longitudinal cut-¬and-fill. Prior to 1962 timber square-set stoping as a secondary extraction method was used for about 15% of the total production. Undercut-and-fill was intro¬duced at Falconbridge in 1962 as a potential replace¬ment for the square-set method in heavy ground. The undercut-and-fill method was developed by Inco in the 1950s, its principal application being to transverse pillar mining. Falconbridge made modifications to this method. A feature of the mine is the No. 1 flat fault which dips 0.79 rad (45°) towards the northeast. The main characteristic of the fault is the presence of large swells of ore directly under the plane of the fault. The ground under the fault area is highly fractured and associated with massive sulfides. In the past, the ore under the fault was recovered, with difficulty, by either tight cut¬and-fill or square-set stoping. In the 1970s these meth¬ods were supplanted to a large degree by the under-cut-¬and-fill method. An advantage of the current undercut-and-fill method which uses cemented fill compared to the cut-and-fill and square-set methods is the reduction of dilution due to better control of the walls. At Falconbridge mine, it is estimated that the grade of ore produced by undercut¬and-fill is improved by approximately 10% over other methods. Where undercut-and-fill is used in very weak ground, a much greater improvement in grade can be expected. Table I shows mining production for 1974. The undercut-and-fill method was first used at Falconbridge during 1962. The first longitudinal stope was prepared for undercutting by laying down laminated beams the length of the stope and installing a lagging mat floor on top of the beams. Unconsolidated tailings fill was poured on top of the mat floor. As the cut ad¬vanced under the floor, heavy posts were placed under the laminated beams at 1.8-m (6-ft) intervals. During 1966, a radical change was made to the method when tailings fill, consolidated with portland cement, replaced the unconsolidated fill. This development eliminated the laminated beams and heavy mat floor and greatly im¬proved the stability of the stope. This system, with minor variations, is currently used at Falconbridge mine. APPLICATION The undercut-and-fill method is used to mine in¬competent ground, sills or floor pillars under mined-out levels, or a block of ore isolated between levels. It is occasionally used to advantage in sequencing produc¬tion from various mining blocks. This is done by mining a block of ore cut-and-fill method and at the same time mining the ore block directly underneath by the under¬cut-and-fill method. The undercut-and-fill mill holes at Falconbridge are either boreholes, stripped timbered raises, or steel mill holes. Boreholes and rock raises tend to slough in heavy and broken ground which increases dilution when sloughing exceeds the ore width outline and also in¬creases the difficulty of moving down to start the new cut. For example, in one installation, a 1.2-m (4-ft) diam borehole sloughed to a size of 3.7 x 5.5 m (12 x 18 ft). The undercut-and-fill method usually requires a mill hole extending from the level below the ore to the top horizon of the ore block. The customary methods of providing a mill hole are: 1) A borehole is driven from level to level through the ore block and a chute installed on the bottom level (Fig. 1). 2) An existing raise is used as a mill hole. If the raise is timbered, a steel mill hole is installed inside the timber and tailings fill poured around the steel mill hole (Fig. 1). 3) An existing steel mill hole, situated at one end of a mined-out stope, is used as the mill hole for an ad¬jacent undercut-and-fill ore block. The mill hole posi¬tion is determined when planning the mining sequence of the first stope (Fig. 2).

Jan 1, 1982

By K. Robert Dorman, F. Michael Jenkins

The occurrence of rock bursts in deep metal/nonmetal mines presents a major hazard to their safe and economical operation. As part of a Bureau of Mines program to reduce rock bursts in deep vein mining, a project was conducted in the Coeur d'Alene Mining District of Idaho to evaluate and demonstrate the mining of a destressed sill pillar using undercut-and-fill methods. A 50-ft sill pillar in a burst-prone area was preconditioned by drilling and blasting vertical holes in the ore. After raises were driven through the destressed pillar to the level above, it was mined by the undercut-and-fill method. The conclusion from this demonstration is that the combination of ore preconditioning and underhand mining resulted in greatly improved rock burst and ground control, allowing safe and efficient mining of a potentially hazardous, burst-prone pillar.

Jan 1, 1984

By C. G. Harris, R. Sluyter

The purpose of an undercut is to undermine a block of ore which will then proceed to cave into draw holes just below the undercut. Undercut-ting is the final and most vital phase in the development of an ore block. Since its purpose is to undermine and induce caving into a block of ore, great care must be exercised to avoid premature caving by removing only enough rock to permit undercut development to proceed. Several undercutting methods, used over a twenty-year period, are re-viewed and their suitability is com-pared with ideal requirements.

Jan 1, 1960

By B Mobilio, M Secheny, J Rachocki, G B. Sharrock, A Jäger, J L. Lett, I Brunton, G W. Capes

Establishment of the Cadia East Panel Cave Stage One (PC1S1) commenced with the firing of the first bell in early 2011. Production began with the completion of the undercut in May 2014. PC1S1 used a post-undercut composed of 114 drawbells covering a footprint area of 73 438 m². The extraction level is located at a depth of 1200 m below the surface and is based on a 32 × 20 m El Teniente layout. Cave establishment required the construction of multiple conveyor drifts, a large-capacity jaw-gyratory crusher and ancillary ventilation and pumping infrastructure. Preconditioning via hydraulic fracturing and blasting was implemented at various locations of the cave block height. This paper presents an overview of the key learnings from the commencement of undercutting to surface breakthrough, including rock mass classification and modelling, stress measurements, preconditioning, numerical modelling and cave monitoring.CITATION:Lett, J L, Brunton, I, Capes, G W, Jäger, A, Mobilio, B, Rachocki, J, Sharrock, G B and Secheny, M, 2016. Undercutting to surface breakthrough – Cadia East panel cave (stage 1), in Proceedings Seventh International Conference and Exhibition on Mass Mining (MassMin 2016), pp 65–82 (The Australasian Institute of Mining and Metallurgy: Melbourne).

May 9, 2016

By C. D. Ramsden

DURING the war years of 1941 to 1945, maintenance of mine locomotives and other mine equipment took the form of rebuilding rather than of renewing. Pur¬chase of new parts became increasingly difficult and mine operators found it necessary to maintain equipment by sal¬vaging old parts. Mine-locomotive wheels, although not representing a high cost per pound of material, contain a con¬siderable amount of steel and without rebuilding would have to be scrapped long before even a moderate percentage of the steel in the wheel is actually consumed. Many mine operators have been re¬building locomotive wheels for several years with automatic open arc-welding equipment. In 1927, the Pittsburgh Coal Co. started such a program, using a single Westinghouse automatic welding head. Since that time, many refinements have been added, until in 1944 the setup was operating very efficiently. A desire to increase wheel life and to hold down rising costs led the company in 1944 to investigate the possibilities of the under¬flux arc-welding process for wheel rebuild¬ing, although at that time, little or no work had been done on multiple pass or "build-up" welding with the underflux arc. Work with this process had been confined largely to welding together flat plates in a "down hand" position. Possibilities for savings were intensified by the fact that the company has 300 locomotives in operation, using actively or as spares 1200 sets of wheels. During 1942 and 1943, about 500 sets of wheels were sent each year to the company's maintenance shop at Library, Pa., for rebuilding. Based on having 800 sets in service (many of the company's heavy locomotives have three- sets of trucks), the average life of a set of wheels was approximately 19 months. Anything that could be done to increase wheel life promised sizable annual savings. OPEN ARC WELDING With the open arc process, a set of wheels could be rebuilt for about 40 pct of the cost of new wheels. Underflux arc welding gave promise of greatly increased welding speeds, more homogeneous, dense deposits and the chance for use of a wider range in welding-wire compositions. Against this was ranged the higher cost of materials and the cost of developing the process from the theory to a practical reality. Since 1927, when a single open arc head was placed in operation, fixed welding procedures had been gradually developed, a positioner for handling a set of wheels was built, and a second head was placed in operation in order to weld two wheels simultaneously. The fixture, or posi¬tioner, which was built to position and turn the wheels under the two welding heads, included a motor drive, controlled by a rheostat, which rotated the wheels through a double set of speed reducers and a removable jaw coupling attached to one end of the axle of the wheel truck.

Jan 1, 1946

By William M. Tanner, Daniel C. Brahana

"A drilled pier foundation was originally designed to support the proposed G. Wayne Clough Undergraduate Learning Commons on the campus of Georgia Tech in Atlanta, GA. Reflective of the site geology, the original drilled pier foundation was divided into a Northern and Southern portion with an allowable end bearing capacity of 60 ksf and 100 ksf, respectively. After initial pricing on the original design, several value engineering options were submitted that featured changes to the original design capacity and construction method. The project team selected the value engineering option that involved conducting an Osterberg Load Cell test to assess end bearing of the site bedrock and skin friction. Results of the Osterberg Load Cell test justified increasing the allowable end bearing capacity of the site bedrock to 100 ksf in the Northern portion and 125 ksf in the Southern portion. Considering the final foundation design and Osterberg Load Cell test program, a net savings of approximately $259,000, or approximately 34%, was obtained over the original design.Project BackgroundThe G. Wayne Clough Undergraduate Learning Commons (CULC) is a 5-story academic building on the Georgia Tech campus in Atlanta, Georgia. The CULC was completed in 2011 and consists of a concrete frame structure supported on a drilled pier foundation.After pricing of the original drilled pier foundation design, several value engineering (VE) analyses were performed by the foundation contractor in an effort to demonstrate the potential for a reduced foundation cost. The VE analyses focused on variations in design assumptions, as well as construction techniques. This paper presents a case study that demonstrates how the value engineering process can be used to reduce foundation costs.Site Investigation and Subsurface ConditionsThe CULC building site is located within the Southern Piedmont Physiographic Province, an area underlain by metamorphic and igneous rocks. McConnell and Abrams (1984) indicate that the site is located at the boundary between two distinct geologic formations. The Northern portion of the site is underlain by the Wahoo Creek Formation while the Southern portion of the site is underlain by the Stonewall Formation. The following paragraphs briefly describe the geotechnical investigations performed by the project geotechnical engineer (GE) for the CULC."

Jan 1, 2015

By Henry Smith, Stu Brown

"The Williams Mine is Canada's largest gold producer, with annual production of some 500 000 ounces of gold from two million tonnes of ore. Highly mechanized and automated underground mining practices are utilized at the property in order to help achieve high levels of productivity and the most cost-effective mining possible.Planning and design parameters for the underground ore handling system at the Williams Mine are described in this paper. Particular reference is made to the considerations that were built into the system to provide maximum operating flexibility through the use of multiple orepass systems, portable low profile jaw crushers, underground conveyors and automated hoisting equipment.IntroductionThe Williams Mine is situated in the Hernlo area of northwestern Ontario, approximately 40 Ian east of the town of Marathon (Fig. I). It is operated by the Williams Operating Corporation, which is owned equally by Teck Corporation and Corona Corporation, and is one of three adjacent properties forming the HernIo gold camp.The mine commenced operation in October 1985 at a nominal production rate of 3000 tpcd. Through an ongoing capital development program, winch was completed in late 1989, the production rate at the property was increased to its current level of 6000 tpcd. This paper describes the mine planning process and the evolution of current mining strategies with particular reference to the underground ore handling system .HistoryGold mineralization was discovered in 1944 in the Hemlo area of Northern Ontario, near the north shore of Lake Superior. A year later, 11 claims were staked over the showing and subsequently patented by the late Dr. Jack Kerr Williams.Over the next 35 years, other claims were subsequently staked, explored and abandoned in the immediate area of the 11 patented claims . In 1980 a predecessor of the Corona Corporation acquired claims adjoining the Williams property to the east. Drilling on this claim group started early in 1981 and intersected the Hemlo orebody in May of that year. In December 1981, Corona Corporation entered into an option agreement with Teck Corporation to explore and develop the property.A drilling program by LAC Minerals on the II patented claims discovered the Williams orebody in March 1982. The mine started production in 1985, pouring its first official bar of gold on December 6 of that year. Corona Corporation was awarded ownership of the Williams Mine conclusively by a decision of the Supreme Court of Canada on August 11, 1989. The court's ruling ended a legal dispute with LAC Minerals over the property initiated eight years earlier."

Jan 1, 1991

By D. F. McCarthy

INTRODUCTION Mined underground chambers specifically designed for the purpose of storing liquefied petroleum gas (LPG) at ambient temperatures have been in use for over thirty years. The first caverns were developed by Warren Petroleum of Tulsa, Oklahoma, in 1948, for its plants in Texas. The basic concept of an LPG-storage cavern is to create a space in an impervious formation at a depth sufficiently below the water table so that if any movement of fluid occurs the ground water will enter rather than the gas escape from the cavern. In the past, the primary reason for LPG storage underground has been its attractive cost advantages over steel storage on the surface. At current prices the cost of storing 7.949 ML (50,000 barrels) would be equivalent, whether stored on the surface or underground; whereas 79.494 ML (500,000 barrels) of storage underground costs only one-fifth of surface storage. It is usually uneconomical to excavate less than 79.494 cu m (50,000 barrels) of storage space. The fixed costs - engineering, mainshaft and ventilation shaft - are a substantial part of the total cost, whereas the incremental costs for excavating additional storage are relatively low. Recent concern over the hazards posed by the handling and storage of LPG and liquefied natural gas (LNG) has led to a new interest in the underground storage of these gases. Underground storage offers the following advantages: safety, security, low initial cost, low maintenance cost, operating, cost, minimum land require-

Jan 1, 1981

By B. O. Pickard

WITH more than a score of shafts and numerous stope openings to the surface, all inter-connected underground; with underground temperatures high, often exceeding 100° wet bulb; with an ore presenting a dust health-hazard; with certain rocks giving off inert gases; with an altitude of 6000 ft. above the sea level and a dry desert climate, the Tonopah mines offered an interesting, problem to the student of metal-mine ventilation. Tonopah is not an old mining district relatively speaking. It was discovered in 1900 and Tonopah soon was a boom camp. By 1910 the mines of this district had paid many millions of dollars in dividends. At the time of the 1921 ventilation study, mining had passed its peak of production and the operators were striving to reduce costs, to discover new ore bodies, and to attract desirable workmen. In 1925, the camp was operating on a still less prosperous basis, but the several managements had not relaxed in their efforts to keep the mines on a paying basis, neither had they lost their faith in the ability of the mines and the price of the silver to "come back." Early in the fall of 1921 the Bureau of Mines was invited by the mine operators at Tonopah, Nevada, to make a detailed study of the under-ground air conditions in the Tonopah silver district. D. Harrington,? who was then directly supervising the ventilation studies of the bureau, detailed district engineer B. 0. Pickard, mining engineer E. D. Gardner, surgeon C. E. Kindall, and petrographer H. Insley to carry on the study. G. S. Rice, as chief mining engineer of the Bureau of Mines, was in general charge of the work. Upon the completion of the study each operator was furnished a report on conditions in his mine.

Jan 2, 1927

By Jon Hurt, Brent Meins, David Vardiman

"Two test blasts were conducted at the Sanford Underground Research Facility to establish optimum blast designs and to limit blast effects on existing research rooms and equipment in preparation for the largest deep underground excavation in North America. Located on the 4850 Level (4,850 ft below the surface)at the former Homestake Mine in Lead, SD, this excavation is part of the U.S. Department of Energy’sLong-Baseline Neutrino Facility that will house particle detectors for the international Deep Underground Neutrino Experiment hosted by Fermilab. A large array of seismographs was deployedthroughout the 4850 Level to measure ground vibrations and airblast pressures in tunnel drifts and in lab spaces."

Jan 1, 2017

By G Anders

Underground tests of slusher cables at first might seem to be quite simple and inexpensive. They do, however, take a long time and give results that may be ambiguous and unreliable. Also, because underground test conditions are not exactly duplicable, tests carried out at different times or in different mines could not be compared. An attempt was made to develop a laboratory test method that would provide for all factors affecting slusher cable performance underground in such a way as to make it possible to achieve comparable results from different series of tests by exactly duplicating test conditions. Such a method should also make it possible to vary individual factors systematically in order to give a proper assessment of the effect of changing conditions on cable performance. A set of tests, comparing the same two types of cable both underground and in the laboratory, is described. AN assignment at the Algom Nordic mine called for the comparison of two types of %-in. slusher

Jan 1, 1964

By K. Koizumf, A. A. Cram, K. Whitchurch

The Expert Scheduling is a new, exciting method for scheduling underground and open-cut coal mines. A key feature of the Expert Scheduler is the adoption of an expert or artificial intelligence system. The expert system makes decisions regarding the schedule, such as which area should be mined. With existing scheduling systems these choices are made by the scheduling engineer. Developing one area may be better than another if it offers better quality or lower costs. Information the engineer considers in these decisions could be; • coal tonnage and quality targets, • equipment utilisation, • mining cost, • and other practical constraints. In expert scheduling a number of experts are appointed to make these decisions. A number of mining strategies are examined for each period. Information for each strategy is evaluated by "experts" and the "best" solution adopted. The method is based on the Blackboard Techniques. With this technique information is presented to "knowledge sources” or "experts" by the Blackboard Controller for their "opinions". These "opinions" are examined by the Blackboard Controller to select the best strategy. Engineers can readily add experts to the system, and modify the weighting of experts to suit mining conditions. Using an Expert Scheduler means that many schedule op- tions can be analysed quickly with full repeatability.

Jan 1, 1996

In 2005, data obtained from the Mine Safety and Health Administration (MSHA) indicated a total of 922 underground (6.3%) and 13,744 surface (93.7%) mining operations.1

Jan 1, 2008

In 2006, data obtained from the Mine Safety and Health Administration (MSHA) indicated a total of 935 underground (6.3%) and 13,950 surface (93.7%) mining operations.1

Jan 1, 2008

Data obtained from the Mine Safety and Health Administration (MSHA) indicated a total of 889 underground (6.0%) and 13,982 surface (94.0%) mining operations.1

Aug 1, 2009

In 2004, data obtained from the Mine Safety and Health Administration (MSHA) indicated a total of 891 underground (6.2%) and 13,587 surface (93.8%) mining operations.

Sep 1, 2007

By Cloyd M. Smith

A FEW years ago, the Ventilation Committee established the practice of presenting one topic each year for discussion at the annual meeting. The practice has met good response on the part of committee members and I suggest that it be continued. The topic chosen for this year, "Underground Anemometry," is a topic which has bothered me for more than 20 years. It seems to me that the coal industry is content to rely on slipshod methods for measuring the rate of flow of air underground, so I prefaced my discussional charge to committee members with the statement that I regard air measurements made in the usual way, with hand held anemometer, as no good. Agreements and disagreements came in from more than a dozen engineers, some of whom are with operating companies, coal and metal; some with manufacturers; others with government agencies.

Jan 1, 1949

By S. J. Jung

The goal of this research is to demonstrate how optimization methodology can be coupled with the finite element method for greater stability of underground mine openings. As a result of increasing mining depth and intersection of geologic discontinuities, mining environments are becoming more complex. Current design procedures are rapidly becoming inadequate. In this research, the finite element method has been coupled with optimization criteria to design more stable and safe underground openings

Jan 1, 1993

By S. Schade, G. Möllemann, C. Niestroj

"Mining environments, whether open-pit or underground, pose difficult conditions for any sensor system. However, the ever-increasing need for automation requires the application and use of sensor systems in order to gather relevant information required for process automation. Ultra-Wideband radio (UWB) is a robust technology well-suited for underground applications. These applications include positioning and communication. This paper introduces UWB and presents results from measurement campaigns in harsh environments. Using filtering and sensor fusion precise and robust positioning can be achieved even in confinements of underground mining environments. INTRODUCTION Indoor positioning systems (IPS) are gaining ever more importance. Especially in light of ongoing efforts to reach the goals of what was coined as Industry 4.0 by the German government, the development of IPS is inevitable. According to a recent report about the “Global Indoor Location Market Outlook 2019” a growth from $ 597 million in 2014 to $ 3961.8 million by 2019 is expected [1]. Hence, there is also an economic incentive to pursue this topic. The mining industry is profiting from this development as well, since IPS are the basis for the automation of especially mobile mining equipment. Ideally, indoor positioning systems offer to position the equipment continuously and, what’s more, even in real-time [2]. Different approaches are available for IPS. The difference of these systems lie in terms of accuracy, cost, precision, technology, scalability, robustness and security. [3] At the Institute of Advanced Mining Technologies (AMT) of RWTH Aachen University, research suggests that one of the more auspicious approaches for IPS in the mining sector is the employment of ultra-wideband (UWB) radio technology. Because of this, there has been ongoing research into the best way to introduce UWB technology for the application in underground environments. The research started with an indoor positioning application, which only consisted of the UWB system. In the course of this, different algorithms were developed to enhance the system’s performance for the use in the mining industry. This led to the idea of sensor fusion in which the information of the UWB system are combined with infrastructure-independent technologies like inertial navigation systems (INS) and image-based technologies."

Jan 1, 2017