الفهرس | Only 14 pages are availabe for public view |
Abstract Mining operation is executed under dangerous environment. Mine health plays an important role in mining operation and working rate and it has to be checked. The knowledge of mine track is necessary for checking mine health. Mine track is determined as a part of mine mapping process. Mapping operation may be executed by using terrestrial surveying instruments, like total station or using positioning systems like Global Positioning System (GPS). plane surveying is an accurate method to get the position of points that represent object map but it does not give dense information and consumes time, effort and cost. GPS is an effective system when the process is executed in open area as surface mines but it is not working when the process is under terrain surface as underground mines and tunnels. So, it is important to get alternative ways to get the mine track with dense positioning information. This is the main motivation to test the capabilities of Inertial Navigation System to get a map of mine track with dense and accurate positioning information. This thesis will introduce a new technique for mine mapping using inertial navigation technology. In order to validate the INS algorithm, a toolbox developed by GPSoft under MATLAB environment is used to generate a reference and INS trajectories. Deep investigation and analysis of the affected error sources of INS has been conducted. The attained results indicated that the accuracy of INS depends upon the error sources. So it is important to integrate INS with external positioning system to improve the INS accuracy. This integration shows significant impact on the accuracy of resulting mine track. The attained results indicated that INS can be integrated with GPS for the mapping of surface mines or integrated with Ground Control Points (GCP) for the mapping of underground mines and tunnels. |