A high-precision positioning method for open-pit mine vehicles based on improved HMM deviation correction algorithm

Ruan Shunling; Li Meng; Gu Qinghua; Lu Caiwu

doi:10.19606/j.cnki.jmst.2023.03.011

Volume 8 Issue 3

Jun. 2023

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Article Navigation > Journal of Mining Science and Technology > 2023 > 8(3): 381-389

Ruan Shunling, Li Meng, Gu Qinghua, Lu Caiwu. A high-precision positioning method for open-pit mine vehicles based on improved HMM deviation correction algorithm[J]. Journal of Mining Science and Technology, 2023, 8(3): 381-389. doi: 10.19606/j.cnki.jmst.2023.03.011

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A high-precision positioning method for open-pit mine vehicles based on improved HMM deviation correction algorithm

doi: 10.19606/j.cnki.jmst.2023.03.011

Ruan Shunling^{1, 2
,},
Li Meng^{1, 2},
Gu Qinghua^{1, 3},
Lu Caiwu^{1, 2}

1.
School of Resource Engineering, Xi'an University of Architecture and Technology, Xi'an Shaanxi 710055, China
2.
Xi'an Key Laboratory of Intelligent Industry Perception Computing and Decision Making, Xi'an Shaanxi 710055, China
3.
Xi'an U-Mine Intelligent Research Institute Co., Ltd., Xi'an Shaanxi 710055, China

Received Date: 2022-10-27
Rev Recd Date: 2022-12-12
Publish Date: 2023-06-30

Abstract

Abstract

Vehicle location deviation could easily occur in complex road network of open-pit mines, which seriously affect production vehicle route planning and intelligent scheduling.In this light, this study proposed a method for high-precision positioning and rectification of open pit minecars based on an improved HMM(Hiddden Markov Model).Specifically, this study clipped the road section by the complex road network map of the constructed open-pit mine, and cleaned the positioning trajectory data of the minecart, whose density was sparsed and segmented; a buffer zone was established to search for candidate road points of the trajectory, so as to improve the efficiency of the minecart positioning and correction under the complex road network; the HMM optimization model of positioning deviation correction was established by calculating the positioning observation probability and transition probability of the minecart.The optimal deviation correctionwas conducted in combination with the Viterbi algorithm to achieve high-precision positioning and deviation correction of the open-pit minecart.Results indicate that the method produces a better correction effect than the original HMM positioning correction method, the correction accuracy can reach 89.2 %, and the average correction time is only 0.055 s.This could effectively correct the positioning coordinates of open-pit mine vehicles under complex backgrounds.
- open pit mine,
- positioning correction,
- Hidden Markov model,
- Viterbi algorithm

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References(26)

References

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A high-precision positioning method for open-pit mine vehicles based on improved HMM deviation correction algorithm

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