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

Claim 7:
8. A method comprising the steps of:
determining 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 the 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 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;
establishing a set of particles representative of horizontal position options;
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 the steps of:
comparing the updated positions of the particles to a sub-set of floor point positions of the floor model; and
filtering out particles that have no floor points within a threshold distance.