公开(公告)号：US11874115B2

公开(公告)日：2024-01-16

申请号：US17297591

申请日：2019-11-28

Applicant: SANDVIK MINING AND CONSTRUCTION OY

Inventor： Tuukka Vainio ,  Jussi Collin ,  Lauri Siivonen ,  Jussi Puura ,  Tomi Von Essen

IPC: G01C21/16 ,  G05D1/00 ,  G05D1/02

CPC classification number: G01C21/16 ,  G05D1/0088 ,  G05D1/0212 ,  G05D2201/021

Abstract: A method for positioning a mobile object in an underground tunnel includes 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 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.