By combining several technologies high resolution localisation in mines will be made possible. A key element is the exchange of localisation information between different technologies using cloud automation and the Arrowhead Frmaework

1. Arrowhead T1.9
3D localization technology
www.arrowhead.eu
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Wim Koomen
wim.koomen@ps-tech.com

2. T1.9 Partners
End-user parties:
• Boliden
• LKAB
Technology providers:
• LTU
• Eistec
• Fotonic
• PS-Tech
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3. Goal of task
Provide localization and positioning in a mining environment
At three different levels:
- Coarse (+/- 20m)
- Intermediate (+/- 1m)
- Fine (+/- 1cm)
Different levels of accuracy require different types of technology
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4. LTU / Eistec
- Intelligent rock bolt
- Using Mulle platform
- Every rock bolt has its own
IPv6 address and can establish
a wireless mesh network in an
ad-hoc manner
- Using triangulation i.c.w.
multiple rock bolts a localization accuracy of 10cm can be
achieved.
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Sensor data CoAP services UWB localization
Platform
6LoWPAN

5. PS-Tech
- High accuracy tracking using a stereo camera based setup
- In combination with inertial sensor based tracking
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Sensor Fusion Web Services ...
Platform
9DOF Inertial Sensors
Stereo-Camera Tracking
System
Optional
Other Sensors
...
Bluetooth 4.0
Ethernet

6. High Level Service Architecture (1/2)
- RigidBodySensor (6DOF)
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- Provides:
- position
- orientation
- InertialSensor (9DOF)
- Provides:
- acceleration (g)
- rotation (degrees/s)
- magnetometer (uT)
- Data from InertialSensor can be integrated to act as a
RigidBodySensor.
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7. High Level Service Architecture (2/2)
Combining the strengths of different sensors can increase the
robustness and accuracy of the localization solution
SensorFusionService
- Subscribes to the data from other RigidBodySensors and
InertialSensors to act as a virtual sensor
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