公开(公告)号：US20230324925A1

公开(公告)日：2023-10-12

申请号：US18023775

申请日：2021-09-01

Applicant: SANDVIK MINING AND CONSTRUCTION OY

Inventor： Usama TARIQ ,  Jyrki HAMALAINEN

IPC: G05D1/02

CPC classification number: G05D1/027 ,  G05D1/0278 ,  G05D1/0274 ,  G05D2201/021

Abstract: A method for controlling the positioning of a vehicle at a worksite including an underground tunnel system includes the steps of defining first confidence level information for position information by a satellite based first positioning source of the vehicle, defining second confidence level information for position information by a second positioning source configured to position the vehicle based on environment scanning, selecting a positioning correction source for the vehicle on the basis of the first confidence level information and the second confidence level information, and applying the selected positioning correction source for correcting dead-reckoning based positioning for the vehicle.

公开(公告)号：US20230315119A1

公开(公告)日：2023-10-05

申请号：US18023787

申请日：2021-09-01

Applicant: SANDVIK MINING AND CONSTRUCTION OY

Inventor： Jyrki HAMALAINEN

IPC: G05D1/02

CPC classification number: G05D1/027 ,  G05D1/0278 ,  G05D2201/021

Abstract: A method for controlling autonomous vehicle operations includes the steps of defining an accumulated dead-reckoning based positioning error of a vehicle at a worksite including an underground tunnel system, detecting a trigger for signal acquisition for a satellite based first positioning source, in response to the detected trigger for signal acquisition, generating a satellite positioning pendency estimate indicative of a remaining time period for obtaining satellite-based positioning information by the first positioning source, and defining speed for the vehicle on the basis of the accumulated dead-reckoning based positioning error and the satellite positioning pendency estimate.