GNSS Map Generation for Mining Sites Using Heading Variance

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Solution Overview

Problem

Existing methods for generating road maps of construction and mining sites are inadequate due to non-rectangular crossroads, unclear road definitions, and frequent changes in road networks, making traditional junction detection and map generation approaches impractical.

Innovation Solution

A method utilizing GNSS-positioning system data to identify junctions by variance in heading information, clustering entry and exit transition points, and building a road map graph based on trips, with data filtering and transformation to account for unique site conditions.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If traditional junction detection based on heading change and speed change is used, then map generation works for regular automobile roads, but it cannot be applied to construction sites or mining sites where crossroads are non-rectangular and roads are wider and less clearly defined

Engineering Contradiction:

Improveapplicability to construction and mining sitesVSAvoidjunction detection accuracy

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The patent changes the detection parameter from heading change and speed change to variance in heading information across spatial tiles. This parameter transformation enables the system to detect junctions in non-rectangular and irregular road configurations typical of construction and mining sites, while maintaining detection reliability through statistical analysis of heading variance thresholds

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The patent divides the operational area into a grid of spatial tiles and analyzes heading information variance within each tile independently. This segmentation approach allows the system to identify junction locations by detecting tiles with high heading variance, effectively adapting to irregular road layouts without requiring continuous trajectory analysis

Inventive Principle:

Principle #1Segmentation

2Productivity

If pairwise trips diverging or converging approach is used, then junction detection can be performed, but it is impractical due to frequent road network changes and irregular driving behaviour on construction and mining sites

Engineering Contradiction:

Improvemap generation efficiencyVSAvoidjunction detection robustness

Core Design Contradiction:

ProductivityVSReliability

Solution Approach 1:

The patent performs preliminary spatial organization of GNSS data into a grid structure and pre-computes heading variance metrics for each tile before junction detection. This preliminary processing enables efficient real-time junction identification even as road networks change frequently, without requiring re-analysis of complete trip sequences

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system uses the inherent variability in heading information within spatial tiles as the detection mechanism itself, eliminating the need for external reference data or predefined road networks. The data's own statistical properties serve the detection function, making the system robust to frequent road network changes and irregular driving patterns

Inventive Principle:

Principle #25Self-service

3Measurement precision

If heading information variance thresholding is applied, then junction tiles can be identified, but transition points must be accurately determined from boundary points crossing the area of interest

Engineering Contradiction:

Improvejunction location accuracyVSAvoidtransition point clustering process

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent extracts only the boundary points that cross the perimeter of the area of interest from the complete set of GNSS data, then applies clustering specifically to these extracted points. This extraction approach simplifies the clustering process by focusing only on relevant transition points while maintaining precise junction location determination

Inventive Principle:

Principle #2Taking out (Extraction)

Solution Approach 2:

The patent introduces an area of interest with a defined perimeter as an intermediary structure between junction tile identification and transition point determination. This intermediary enables systematic clustering of boundary points by providing a clear geometric framework for identifying entry and exit points, balancing precision with computational simplicity

Inventive Principle:

Principle #24Intermediary (Mediator)

Data Source

PatentUS11328461B2GNSS-based map generation

Publication Date: 2022.05.10 SAFEMINE

AI summary

Automatic generation of a road map of a site can be performed. Data records collected by vehicles with a GNSS-positioning system while driving are provided, each data record having a position information representing a two-dimensional or three-dimensional position of the vehicle, an identification reference specific to a corresponding vehicle, a time tag, and a heading information. The data records are assigned to corresponding trips based on the time tag and the identification reference. The trips are mapped within an area and the area is divided into a plurality of uniform tiles. For each tile, a heading information variance of the data records covered by the respective tile is determined. A tile is defined as junction tile, if the tile has a heading information variance higher than a computed threshold variance. An area of interest (AoI) having a perimeter is determined by which a plurality of junction tiles is surrounded.