Patent ID: 11874115
Assignee: SANDVIK MINING AND CONSTRUCTION OY
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. An apparatus, comprising means for performing the steps of:
determining a horizontal progression of a mobile object in an underground tunnel from a preceding position estimate or an initial position of the mobile object;
determining a horizontal position of the mobile object on the basis of a floor model of the tunnel and an estimated horizontal progression of the mobile object; and
generating a three-dimensional position indicator on the basis of the horizontal position of the mobile object and on the basis of a three-dimensional model of the tunnel, wherein the three-dimensional position indicator is generated on the basis of a sub-set of three-dimensional floor point locations within a threshold distance from the determined horizontal position, and the means are configured for performing the steps of:
establishing a set of particles representative of horizontal position options for the mobile object;
updating positions of the particles on the basis of the determined horizontal progression of the mobile object; and
fusing the updated positions of the particles with the floor model, wherein the fusing comprises:
comparing the updated positions of the particles to a sub-set of floor point positions of the floor model;
filtering out particles that have no floor points within a threshold distance; and
assigning, for each particle, a position of a closest floor point within a threshold distance.