Range Based Localisation Using RF and the Application to Mining Safety

KLOOS, GEROLD; JOSE GUIVANT; FAVIO MASSON; EDUARDO NEBOT

Conferencia; 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems; 2006

This paper describes the derivation and experimental validation of a novel sensor model for radio frequency sensors to be used for localisation purposes. A comprehensive description of the modelling aspects is presented. Outdoor range only tracking results using the newly derived model are fully described with a comparison to the free space model commonly used for radio frequency applications. Although this approach is applicable for generic localisation purposes in indoor and outdoor environments, it is of fundamental importance when applied to proximity detection involving large machines. In particular in environments such as mining, stevedoring and construction there is a need to detect the presence of personnel in close proximity to machines. A close proximity system that makes use of the newly derived model is presented working with a 100 tons mining haul truck