Implementation of an autonomous underground localization system

This paper discusses the design and implementation of an inertial navigation system for underground mines. The navigation system consists of an inertial measurement unit (IMU) and an artificial beacon positioning system (ABPS). The navigation system is capable of providing continuous estimates of an object´s position. The main contribution of this work is the use of an off-the-shelf IMU sensor along with an ABPS in the implementation. The challenge with low cost IMU is the diminished performance which is the main reason for the inclusion of the ABPS. The IMU is used to interpolate between the ABPS positions. All the relevant equations regarding the navigation system are also presented in this discussion. Results are presented to show the merit of the work and highlight various aspects of the navigation system.