Mining Publication: Accurate Navigation and Control of Continuous Mining Machines for Coal Mining

The results of laboratory, field, and open pit accuracy and performance testing of the Honeywell Ring Laser Gyro Inertial Navigation System (INS), a navigation system designed to provide the heading and location of a remote controlled continuous miner, were presented. The basics of the design and operation of the INS, the basic and an expanded control system, the site of open pit testing, the use of an automated transit as a reference for determination of the position of the continuous miner, the reference coordinate system used, navigational requirements for the open pit test, the field test system, the software used to monitor the position of the robotic transit, the mine plan, the installation of the INS and its alignment to the continuous miner, the operation of the INS, equipment setup procedures, system accuracy, data archiving methodology, and methods used for data analysis were described in detail. The results of open pit testing indicated circular errors probable (CEPs) which ranged from 3.62 to 28.16 centimeters/hour and spherical errors probable (SEP) which ranged from 10.18 to 49.07 centimeters/hour over all of the tests. The mean CEP was 13.1 centimeters/hour and the mean SEP was 22.44 centimeters/hour. Confirmation of these findings by additional testing will help support the viability of the Honeywell Ore Recovery and Tunneling Aid as a candidate for accurate continuous miner navigation.