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Research on a precise positioning method of rapid excavation systems based on integrated navigation
Hongda Zhu1, Yuang Zhao1, Yunlin Zhou1
1School of Mechanical and Electrical Engineering, China University of Mining & Technology(Beijing), Beijing, 100083, China.
Scientific Reports
|November 25, 2025
Summary
Precise underground navigation for coal mining uses an Inertial Navigation System (INS) plus Vision "mutual reference" scheme. This method enhances safety and efficiency in tunnels by enabling collaborative positioning between mining equipment.
Area of Science:
- Mining Engineering
- Robotics
- Geomatics Engineering
Background:
- Intelligent coal mining requires precise navigation for rapid excavation systems.
- Challenges include GPS denial, limited visibility, and lack of multi-equipment collaboration in tunnels.
Purpose of the Study:
- To propose an Inertial Navigation System (INS) + Vision "mutual reference" collaborative positioning scheme.
- To address high-precision positioning needs in complex underground working face conditions.
Main Methods:
- Utilizing the alternating operation of Bolter Miners (BMs) and Bolt Transfer Units (BTUs).
- Implementing coordinate transformation and data fusion for dynamic relative positioning.
- Employing a vision-inertial system as a local reference for pose updates.
Main Results:
- The proposed scheme achieves high-precision positioning under complex working face conditions.
- Maximum lateral/longitudinal errors for BTU and BM were 34 mm/66 mm and 28 mm/66 mm, respectively.
- Successfully solved issues like single-sensor error accumulation and visual occlusion.
Conclusions:
- The integrated navigation method is feasible and performs as expected for rapid excavation systems.
- Meets stringent underground positioning requirements for enhanced mining efficiency and safety.
- Demonstrates effective multi-equipment collaboration in GPS-denied environments.
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