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LI Zongwei. Detection method of coal mine cross-border mining based on inertial navigation[J]. Safety in Coal Mines, 2023, 54(8): 234-240.
Citation: LI Zongwei. Detection method of coal mine cross-border mining based on inertial navigation[J]. Safety in Coal Mines, 2023, 54(8): 234-240.
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Detection method of coal mine cross-border mining based on inertial navigation

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  • Available Online: September 04, 2023
    Graphical Abstract
    • Abstract
  • Cross boundary mining will disturb the order of mineral resources development, and form major potential safety hazards, and it has strong concealment. Due to the lack of effective technical means, the mining boundary of the mine can not be monitored quickly and accurately. A coal mine cross-border mining monitoring method based on PDR inertial navigation algorithm and mine map landmark calibration is proposed. The inspectors wear a PDR positioning terminal based on MEMS IMU and hold a PDA device. The mine map is imported into the PDA as the base map of the walking track. The PDA receives the positioning data of the positioning terminal and displays the walking track on the base map in real time and the PDR positioning error is preliminarily corrected through zero speed detection and Kalman filter algorithm. When the inspector reaches the natural landmark position, calibrates the estimation according to the relationship between the trajectory on the PDA interface and the landmark position in the mine map, and updates the coordinate position in the positioning terminal to further calibrate the positioning error. By comparing the track, mining map and the regional scope approved by the department of land and resources, judge whether there is cross-border mining.
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