Dead Reckoning-Augmented GPS for Mine Drill Positioning
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Solution Overview
Problem
The GPS/GLONASS system is prone to errors and unavailability due to physical obstacles and solar noise, making it unreliable for high-precision positioning in mining applications, particularly in blasthole drills where accurate navigation is critical.
Innovation Solution
An augmented GPS (aGPS) system that combines GPS with dead reckoning techniques, using a chorus subsystem with gyroscopes and rotation sensors to estimate vehicle motion and extrapolate position when GPS signals are lost, ensuring accurate positioning within 6 inches over 100 feet.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If GPS/GLONASS system is used for positioning, then position information can be obtained, but the system becomes unreliable due to physical obstacles and solar noise
Solution Approach 1:
The patent combines GPS/GLONASS satellite-based positioning with dead reckoning techniques using local sensors (gyroscopes, accelerometers, wheel encoders) to create a hybrid positioning system. This merging allows the system to maintain reliability by switching between or fusing GPS data and dead reckoning estimates when satellite signals are unavailable or inaccurate due to physical obstacles or solar noise.
Solution Approach 2:
The patent introduces dead reckoning as an intermediary system that bridges the gap when GPS signals are compromised. Local sensors act as intermediaries to continuously estimate position, speed, and orientation, providing a fallback mechanism that maintains positioning reliability during GPS outages caused by environmental harmful factors.
2Reliability
If dead reckoning is used to calculate position, then position can be estimated when GPS is unavailable, but significant error accumulates due to inaccurate speed and direction measurements
Solution Approach 1:
The patent merges dead reckoning with GPS/GLONASS positioning to create a hybrid system where the strengths of each method compensate for the other's weaknesses. GPS provides accurate absolute positioning when available, while dead reckoning maintains positioning availability during outages, with sensor fusion algorithms optimizing the combination to minimize error accumulation.
Solution Approach 2:
The system uses feedback mechanisms where GPS positions, when available, are used to correct and reset accumulated dead reckoning errors. The system continuously monitors measurement quality and uses GPS data to calibrate and adjust dead reckoning parameters, preventing significant error buildup while maintaining positioning availability during GPS outages.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The aGPS system maintains high precision and reliability by integrating local sensor measurements with GPS data, reducing uncertainty and maintaining accurate vehicle positioning even under poor satellite signal conditions, thereby enhancing navigation in mining operations.
Implementation Method 1
a gyroscope operatively connected to the chorus DAQ
Implementation Method 2
at least two rotation sensors operatively connected to the chorus DAQ
Data Source
AI summary
The invention relates to an apparatus and method for augmenting the 3 dimensional position information obtained from the NAVSTAR satellite-based global positioning system (“GPS”) system. Such systems can be impacted by physical obstacles that prevent the receipt of the satellite signals or as a result of sun spot activity that introduces noise into the signals thus causing them to become intermittently unavailable and/or making them less accurate in the course of normal operation. Therefore, an improved positioning solution that can operate under such poor GPS operational conditions is needed. The apparatus and method of the invention augments GPS with dead reckoning techniques when GPS signals are unavailable or inaccurate. The apparatus and method of the invention demonstrates highest value when applied to blasthole drill positioning applications in open-pit mines.