Underground Vehicle Positioning Control During GNSS Re-Acquisition

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Solution Overview

Problem

At worksites with underground tunnel systems, vehicles face challenges in transitioning between underground and surface positioning due to slow satellite signal re-acquisition, leading to potential collisions and stopping issues.

Innovation Solution

An apparatus and method that define accumulated dead-reckoning based positioning error and detect a trigger for satellite-based positioning, generating a satellite positioning pendency estimate to adjust vehicle speed and prevent stopping during signal acquisition.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If vehicles use satellite-based positioning at worksites with underground tunnel systems, then positioning accuracy is improved when signals are available, but signal re-acquisition time increases significantly during transitions between underground and surface

Engineering Contradiction:

Improvepositioning accuracyVSAvoidsignal re-acquisition time

Core Design Contradiction:

Measurement precisionVSLoss of time

Solution Approach 1:

The system performs preliminary actions by continuously attempting to acquire and maintain satellite signals before complete loss occurs. The positioning system prepares by keeping signal acquisition processes active and ready, reducing the time needed to re-acquire signals during transitions between underground and surface environments.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The patent introduces an intermediary positioning system that bridges the gap between satellite-based positioning and other positioning methods during signal transitions. This intermediary system maintains continuous positioning capability by switching between or combining multiple positioning sources, ensuring uninterrupted navigation during underground-to-surface transitions.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Device complexity

If vehicles rely solely on satellite-based positioning, then positioning is simplified, but navigation interruptions and stopping occur during signal acquisition

Engineering Contradiction:

Improvepositioning system complexityVSAvoidnavigation continuity

Core Design Contradiction:

Device complexityVSReliability

Solution Approach 1:

The system dynamically changes operational parameters by adjusting between different positioning modes and signal acquisition strategies based on environmental conditions. When transitioning from underground to surface, the system modifies its signal acquisition parameters and positioning update rates to maintain reliability without requiring overly complex system architecture.

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The positioning system is designed with multi-functionality to operate effectively in both underground and surface environments. It can switch between satellite-based positioning, inertial navigation, and other positioning methods, making the system universally applicable across different worksite conditions while maintaining navigation continuity.

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Productivity

If vehicles increase speed to maintain productivity, then production efficiency is improved, but collision risk increases when positioning accuracy degrades during signal transitions

Engineering Contradiction:

Improveproduction efficiencyVSAvoidcollision risk

Core Design Contradiction:

ProductivityVSObject-affected harmful factors

Solution Approach 1:

The system implements feedback mechanisms that continuously monitor positioning accuracy, signal quality, and vehicle speed. When transitions are detected and positioning uncertainty increases, the feedback loop automatically adjusts vehicle speed to maintain safe operating parameters, preventing collisions while minimizing impact on production efficiency.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The positioning and control system is designed to be dynamic, automatically adapting vehicle speed and navigation parameters in real-time based on environmental conditions and signal availability. This dynamic adjustment allows the vehicle to maintain high productivity when conditions are favorable while automatically reducing speed to safe levels during signal transitions, balancing productivity and safety.

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS12332654B2Underground worksite vehicle positioning control

Publication Date: 2025.06.17 SANDVIK MINING & CONSTR OY

AI summary

A method for controlling autonomous vehicle operations includes the steps of defining an accumulated dead-reckoning based positioning error of a vehicle at a worksite including an underground tunnel system, detecting a trigger for signal acquisition for a satellite based first positioning source, in response to the detected trigger for signal acquisition, generating a satellite positioning pendency estimate indicative of a remaining time period for obtaining satellite-based positioning information by the first positioning source, and defining speed for the vehicle on the basis of the accumulated dead-reckoning based positioning error and the satellite positioning pendency estimate.