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By A. Ennen, R. Wagner, B. Orberger, J. -M. Milazzo, N. Uhlmann, J. Banchet, J. Lucic, N. Wörlein, M. Firsching, J. L. Dubos, C. Bauer

The residues from mining and processing ores can often be considered as secondary raw materials. However, the material is only available in the form of fine particles (< 3 mm). In order to recycle these wastes, it is necessary to agglomerate it for transportation prior to reprocessing. The resulting agglomerates need to mechanically resist the stress of transportation and loading into the furnace. X-ray computed tomography (CT) is an established method for characterisation of internal structures in material science. This non-destructive technique can provide information on size and distribution of particles and grains. However, the information is not limited to the size, but also can yield structural features like orientation and position of cracks and fractures, which are important features indicating potential for deteriorating the agglomerates. Furthermore, deduced features such as contact conditions of inclusions or boundary surfaces can also be calculated. We studied binder-free tablets of manganese-oxyhydroxide, bentonite, kaolinite and slag powder using micro-CT. Inclusions of highly absorbing particles were identified using a watershed transformation with automatic segmentation by Otsu thresholding. Subsequently, the resulting data was analysed regarding their volume percentage, distribution in size and location within the sample. For the slag agglomerates, the volume fraction of iron could be determined. Furthermore, visible cracks were investigated with the goal to determine the long-term durability. It was shown that the data provided by micro-CT is reliable and helpful for the characterisation of industrial waste agglomerates. Keywords: X-ray, computed tomography, micro-CT, agglomerates, manganese fines, slags, kaolinite, bentonite

Jan 1, 2020

By A. K. Verma

Several longwall faces in India have collapsed due to adverse geological conditions and/or inadequate capacity of powered supports. Thus it is imperative to access the capacity of a powered support and its interaction at longwall faces of varying geomining conditions in advance with lots of confidence. To achieve this, an index has been developed to ascertain the front leg pressure (FLP) of chock-shield support and roof-to-floor convergence (RFC) at longwall faces. The index called ?Longwall Face Stability Index? (LFSI) has been developed using statistics and Finite Element Modelling (FEM). The front leg pressure (FLP) and roof-to-floor convergence (RFC) predicted from the LFSI are validated with the field monitored data from two longwall panels. In this study, an attempt is also made to incorporate various geomining conditions into the finite element models typical of longwall mining practice. The index has taken into account the wide variations of geomining parameters like thickness, young?s modulus and friction angle of main roof (small, large), coal type (soft, hard), powered support capacity, and depth of coal seam. Thus, LFSI can be thought of as an index representing combined effect of roof type, geomining conditions and powered support capacity.

Jan 1, 2008

By S. Sekhar, S. Bhargava, A. K. Godugu, J. L. Porathur

Cemented backfilling has enabled underground hard rock mines to extract orebodies more safely with improved ore recovery. It is important to estimate the minimum required strength parameters for a backfill mix by optimizing the binder percentage to enable cost-effective and safe stoping operations. We conducted three-dimensional numerical modelling to study the effect of various stoping parameters on the stability of a free-standing backfill wall. A Mohr-Coulomb material model was used for the backfill material and the rock-fill interface. A strength reduction technique, excluding friction angle, was employed to arrive at a minimum stable strength value for the backfill. For a given combination of strength values, the stability state of the backfill wall could be demarcated using a displacement and yield zone tracking method. The numerical modelling results are compared to some earlier theoretical models. From the simulations, a predictive equation is developed to predict the required strength parameters for a backfill mix to ensure a stable free-standing wall. Examples are given of the successful use of the predictive equation at some underground hard rock mine sites in India.

May 2, 2022

By E. C. de Beer

"SynopsisA number of important areas in nuclear fuel cycle, at both the front end and back end, offer ideal opportunities for the application of non-destructive evaluation techniques. These techniques do not only provide opportunities for non-invasive testing of e.g. irradiated materials, but also play an important role in the development of new materials in the nuclear sector. The advantage of penetrating radiation used as probe in the investigation and testing of nuclear materials makes X-ray and neutron radiography (2D) and tomography (3D) suitable for various applications in the total nuclear fuel cycle. The unique and different interaction modes of the two radiation probes with materials provide several opportunities. Their complementary nature and non-destructive character makes them most suitable for nuclear material analyses, analytical method development, and the evaluation of the performance of existing nuclear material compositions. This article gives an overview of the X-ray and neutron radiography/tomography applications in the field of nuclear material testing, and highlights a few of the success stories. Several selected areas of application in the nuclear fuel cycle are discussed to illustrate the complementary nature of these techniques as applied to nuclear materials.IntroductionDuring the development of new materials for the nuclear industry, materials testing and characterization are of the outmost importance to maintain safety standards and reliability. No compromise on safety in the workplace in any area within the total nuclear fuel cycle can be tolerated, and therefore most in-situ material characterization and testing is conducted by certified and qualified personnel schooled in destructive and non-destructive testing (DT and NDT) methods. Certification and qualification in NDT can be obtained through many training centres in South Africa in accordance with European, American, and other international standards (SGS, n.d.; SAIW, n.d.; African NTD Centre, n.d.)."

Jan 1, 2015

The first annual student prizegiving function of the South African Institute of Mining and Metallurgy was held in the Dorothy Susskind Auditorium, University of the Witwatersrand, on Thursday, 26th May, 1977. The address (see opposite page) was given by Dr M. G. Atmore, a director of Anglo American Corporation and Vice-President of the Institute.

Jan 1, 1977

By M. J. Voigt, R. A. Govender, A. Mainza, L. Bbosa

"Mineral texture is a critical factor which controls ore variability and is an important attribute in geometallurgy. In relation to downstream processes, it affects the fracture pattern during breakage, where rock strength is inherently a function of mineral texture. Because of the subjective nature of mineral texture, it has not been easy to quantify, especially in the context of a measurement suitable for use in geometallurgical programmes. The aim of this paper is to present the first steps in developing a 3D mineral texture quantification method for drill core and to assess its sensitivity to differences in rock strength using a case study. The methodology includes classifying the textural information using the 3D grey level co-occurrence matrices (GLCM) and X-ray computed tomography (XCT) coupled method. Rock strength tests were performed using the split Hopkinson pressure bar (SHPB). The case study investigates a heterogeneous polymetallic sulphide deposit and a homogeneous shale subdivided into three ’mineral textural types’. The variability is largely captured by the GLCM matrices, and preliminary trends can be observed where the shale is finer grained and has a higher yield strength in comparison with the coarser grained polymetallic sulphide ore. IntroductionModern mining requires the exploitation of lower grade and more complex, heterogeneous orebodies to address the growing industry demands. Historically, processing plants were designed and built based on average ore characteristics and therefore are relatively inflexible when facing the full spectrum of ore variability in heterogeneous orebodies (Lamberg, 2011; Lotter, 2011; Schouwstra et al., 2013). The practice of geometallurgy represents an opportunity to manage ore variability in the mining industry (Powell 2013; Baum, 2014; Yildirim et al., 2014; Nguyen, 2013). It focuses on quantifying the relationships between ore characteristics and their downstream mining and processing responses, often starting with small-scale laboratory testing. The purpose of geometallurgy is linked to maximizing the net present value (NPV) of an orebody by minimizing technical and operational risk – where ‘ore variability’ is considered one of the most significant technical risks."

Apr 1, 2019

A Special General Meeting of the Institute was held in Kelvin House, Johannesburg on Wednesday, 29th September, 1971. The President, Prof. D. D. Howat opened the meeting at 9.55 a.m. The President read the notice of meeting which was as follows: "In order to bring industry into closer liaison with the work of your Institute and to place the Institute&apos;s finances on a sound basis your Council recommends that companies be admitted to membership of the Institute under clause 2.6 of the Constitution, that is, as Non-Corporate members. The designation for this class of member will be that of "Company Affiliate". 2 Membership: This clause to be amended as follows:- 2.6 "Non-Corporate members shall comprise the grades of:- Company Affiliate Honorary Fellow Graduate Associate Student" 2.6.1 This clause to be added:- "Companies involved in or associated with the mining or metallurgical industries are eligible to become company affiliates" 2.14 Add:- "A special certificate shall be issued to all company affiliates". After giving the background to the recommendation made by Council the President asked for a proposer and seconder for the resolution. Mr J. K. E. Douglas proposed and Mr D. G. Maxwell seconded the resolution. The meeting agreed that the constitution be amended as proposed. The meeting closed as 10.05 a.m.

By H. Griesel

The overall supply of platinum is forecast to rise more than the demand, and market deficit will narrow somewhat, but is still substantial at about 480 000 ounces. Because of this deficit, the price of platinum is expected to remain high, not taking into account the impetus from funds and speculators. With this strong demand for platinum and the high price, platinum producers still need to initiate projects to not only sustain current production, but also expand output into the high demand. However, the rise in the platinum price does not entirely offset the drop in revenue due to the strong rand. Consequently, in the current economic environment, executives and managers are under extreme pressure to initiate only the highest yielding projects and implementing them successfully. During the initiation phase of a project, the cost of changing concepts is the least, and strategic project decisions are the most important. It is during this phase that the most value can be added to a project, therefore requiring inputs from highly skilled, creative and experienced people. This paper will discuss thought processes and paradigms during the initiation of projects that will assist project owners in the selection and initiation of successful and profitable projects. The project initiation process will also be discussed outlining selection models, risk analyses and funding considerations.

Jan 1, 2004

By D. B. Swanepoel

Hulamin Rolled Products (Ltd) developed a high Mn and Si containing alloy, EN 4017 as a scrap consuming alloy from the waste generated in producing their range of clad products for brazing of inter alia automotive heat exchangers. The multifaceted composition of this alloy (Al -1.2 wt% Si -1.1 wt% Mn -0.2 wt% Mg-0.26 wt% Cu) suggested that it might display some degree of strengthening via precipitate formation of the Mg2 Si-types. The aging isotherms constructed showed that EN 4017 with 0.19% Mg reached a lower peak strength (YS~210 MPa and UTS~260 MPa)compared to the EN 4017 material with 0.43% Mg (YS~270 MPa and UTS~325 MPa). The higher Mg variant of EN 4017 was comparable with the age-hardenable reference alloy EN 6061. Selected area electron diffraction (SAED) studies proved that the microstructure of age hardened EN 4017 contained a combination of ß&apos;, ß" and U2 phase after being aged at 175ºC for 65 h. The general microstructure contained precipitate free zones as well as grain boundary Si films, although these did not lead to significant embrittlement. The role of Mn dispersoids in the fracture mechanism of 4017 is also discussed. The article will compare the behaviour of EN 4017 with that EN6061. Keywords: Age-hardening, dispersoids, magnesium silicide, precipitate free zones

Jan 1, 2009

By B. D. H. Knights

In November 2009 Mintek installed the FloatStar? advanced flotation stabilization system on Vale&apos;s Cauê iron ore beneficiation plant in Brazil. In September 2010 the system was upgraded to include flotation optimization. The circuit consisted of two parallel cleaner circuits producing final concentrate. The tailings from the cleaner section passed through a scavenger circuit. Large, well-instrumented feed sumps played an important role in circuit stability, presenting a good opportunity for advanced control. Previously the plant was controlled using distributed control system (DCS) level control only. The flotation circuit processes roughly 30kt/day. The FloatStar system provided advanced control of the flotation circuit as well as of the sumps feeding the circuit. The system underwent a lengthy trial to assess the benefit that it provided. Two data sets were analysed, showing performance under advanced stabilization and optimization respectively. Several validation and consistency criteria were employed to ensure the quality of the analysis. Iron recovery and iron tailings grade were used to measure system performance. The analysis showed that the system increased recovery by up to 2.7%. In addition, the system decreased the iron tailings grade by between 1.2% (from 23.5% to 22.3%) and 4.3% (from 31.3% to 27.0%) during different test campaigns. The analysis also showed that the entire FloatStar stabilization system was active for 72.7% of the time from first activation to the end of the first data set (approximately 200 days). From the analysis it was concluded that under similar conditions for &apos;ON&apos; and &apos;OFF&apos; tests, the system provides a clear benefit. It was also found that over the longer term, the system continues to provide a benefit. This finding suggests that the results were not simply due to a short-term advantage. The size of the data set, as well as the magnitude of the recovery improvements, lends considerable confidence to these results. Therefore, it can be concluded that the FloatStar control system provides substantial benefit to operations at this site.

Jan 1, 2012

By C. W. P. Finn

On 14th April, 1980, 76 delegates from industry, universities, and research laboratories gathered at the University of the Witwatersrand to attend the Pyrometallurgy Vacation School. Professor H. B. Bell, Chairman of the Department of Metallurgy at the University of Strathclyde, Scotland, was there to lead the School, along with 12 local lecturers, who had gathered at the Hotel Devonshire at 07h30 for an Authors&apos; Breakfast. Analytical chemistry Euroanalysis IV will be held in the town of Espoo, approximately 9 km from the centre of Helsinki, from Sunday, August 23rd, to Friday, August 28th, 1981.

Jan 1, 1980

By R. Armstrong

The stability of rock slopes is significantly influenced by their curvature in plan view. The importance of this in open pit mining is indicated by the fact that, in a deep pit, steepening of the slopes by 1° may save as much as $100 million. It is considered that there are two significant factors that play a part in the influence of plan curvature. These two factors are the effect of stress, and the effect of geological structure. The scant literature that pertains to this aspect of rock slope design was reviewed. The geometrical influence of the plan curvature was then investigated. It was seen that it has a parabolic effect on the maximum possible wedge that can fail into a circular pit, where the tighter the concave curvature the smaller the wedge. The plan curvature also affects the volume of a particular wedge, where concave slopes result in an exponential decrease in the volumes and convex slopes have exponentially increased wedge volumes. A change in the strike of the wedge did not affect the curvature’s influence on the volume, but the volumes of shallower dipping wedges were affected more by the influence of the plan curvature. La stabilité des talus des roches est très influence par la courbure de celles ci dans la vue en plan.Son importance de l peut arriver à sauver même $100 millions. Il est considère qu il y a deux facteurs importants qui jouent une influence sur cette courbure. Il s’agit de l’effet des contraintes et l’effet de la structure géologique. La brève littérature qui se réfère à cet aspect du conception sur le talus des roches a été revue. L’influence géométrique de la courbure des plans a été investiguée. Il a été vu que cela un effet parabolique sur la bosse ou le su relèvement maximum possible qui peut faillir dans un puits circulaire, ou le plus resserre est la courbure concave, le plus petit est su relèvement (bosse). La courbure plane aussi affecte le volume d’un particulier su relèvement ou les talus concaves résultent dans une décroissance exponentielle en volume alors que les talus convexes accroissent la volume de ces su relèvements (bosse). Le changement de l’orientation de la bosse (su relèvement) perpendiculairement ou obliquement n’ a par affecte l’influence de al courbure sur le volume mais les volumes des bosse (su relèvement) peu profonds étaient affectes par la courbure des plans. Die Stabilität der Felsensteigungen wird erheblich durch ihre Biegung im Plan beeinflußt. Der Wert von diesem in der Tagebaugrube wird durch die diese Tatsache, in einer tiefen Grube, steepening der Steigungen durch 1° angezeigt; kann soviel wie $100 Million speichern. Es wird betrachtet, daß es zwei bedeutende Faktoren gibt, die eine Rolle im Einfluß der Planbiegung spielen. Diese zwei Faktoren sind der Effekt des Druckes und der Effekt der geologischen Struktur. Die dürftige Literatur, die diesen Aspekt des Felsensteigungdesigns betrifft, wurde wiederholt. Der geometrische Einfluß der Planbiegung wurde dann nachgeforscht. Es wurde gesehen, daß es einen Parabolischen Effekt auf dem maximalen möglichen Keil hat, der in eine kreisförmige Grube ausfallen kann, wo, das fester die konkave Biegung, das kleiner der Keil. Die Planbiegung beeinflußt auch das Volumen eines bestimmten Keils, in dem konkave Steigungen eine exponentiale Abnahme an den Volumen ergeben und konvexe Steigungen exponential Keilvolumen erhöht haben. Eine Änderung im Schlag des Keils beeinflußte nicht den Einfluß der Biegung auf das Volumen, aber den Volu

Jan 1, 2003

By G. M. J. van Heerden, R. C. W. Webber-Youngman

"This article describes the re-engineering principles applied in the design of a personnel transportation system for the Bafokeng Rasimone Platinum Mine in the Rustenburg area of South Africa. It incorporates conveyor belt travelling, chairlift operation, and also includes consideration of proposed changes/modifications to the existing conveyor belt infrastructure.The purpose of the project was to identify, through a process of evaluation, the appropriate option and/or combination of transportation options that would be safe in terms of personnel transportation as well as cost-effective. Alternative measures for transporting personnel (not using belt riding) would have a significant positive spin-off, increasing the availability of the belt and thereby increasing production. This paper explores the feasibility of interventions that would improve safety through eliminating risk associated with personnel transportation as well as contributing towards improving the mine’s position on the cost curve.The design in consideration at the Bafokeng Rasimone Platinum Mine consists of two shaft systems, namely the North Shaft and South Shaft, each comprising twin decline shafts. One of the decline shafts is equipped with a conveyor belt for rock and personnel transportation, and the other with a winder for trackbound material transport. The conveyor belt has been used for personnel transportation since the commissioning of the shafts. The conveyor belt is equipped with platforms for personnel getting off and on the belt and a number of safety devices designed to ensure safety while travelling on the belt. Intensive training in the practical aspects of belt riding is given to every person, and unsupervised riding on the belt is permitted only once belt riding competence is demonstrated. Despite this, the safety results were poor, with 106 injuries between 2006 and May 2013. Fortunately, no fatalities were reported during this period.An investigation of alternative means for personnel transportation or engineered solutions to the current conveyor belt infrastructure in the safest, most effective, and most economical way was therefore needed. There was a major risk of safety-related stoppages being imposed following another belt accident/incident. This would prevent the mine from transporting personnel underground by belt and result in major production losses. From the commissioning of the Phase 2 shaft deepening project on both shafts, dedicated chairlifts have been used for personnel transportation as opposed to the conveyor belt installed in the Phase 1 area. The chairlifts have been in operation since 2004 and no chairlift-related incidents have been recorded thus far. According to safety statistics, it is clear that the chairlift is the safer method for the transportation of people in the shaft.To fulfil the objectives/scope of this study, it was recommended that both primary (new chairlift decline with infrastructure) and secondary options (modifications to the current conveyor belt infrastructure) be considered for implementation on both the North Shaft and South Shaft to reduce or eliminate accidents/incidents as a result of belt transportation. The associated capital expenditure would be approximately R200 million. Considering the future impact on the business as a whole, this would definitely be capital well spent."

Jan 1, 2016

By J. F. Brand, J. C. van Dyk, F. B. Waanders

"Syngas from Africary’s Theunissen underground coal gasification (UCG) project will be used for power production and synthesis of liquid fuels and commodity chemicals. However, some of the coal components, especially condensable water, oils, tars, inorganic trace elements, and a small fraction of fly ash and particulate matter, make their way to the surface via the production well and can cause adverse impacts on downstream processes. Africary’s standard design incorporates a cold gas clean-up system that relies on relatively mature techniques based on highly effective wet scrubbers and acid gas removal (AGR) systems such as Rectisol®, but with the downside of low energy efficiency and waste water generation. In this paper, novel technologies for removing contaminants and species separation from the hot (T > 300°C) raw syngas are compared. Comparisons are made between supersonic gas separation (SGS), Ranque–Hilsch vortex tube (RHVT), vortex gradient separation (VGS), and inertia vacuum filtering (IVF), and a vortex-based gas separation concept is proposed for UCG applications. IntroductionImpurities in gasification feedstock (coal, biomass, waste, etc.), especially sulphur, nitrogen, chlorine, and inorganic mineral matter, often end up in the syngas and can cause adverse impacts on downstream processes. Africary’s standard design incorporates a cold gas clean-up system that relies on relatively mature techniques based on highly effective wet scrubbers and acid gas removal (AGR) systems such as RectisolR, SelexolR or aMDEAR; but with the downside of low energy efficiency and waste water generation.Hot (T > 300°C) gas clean-up technologies are attractive because they avoid cooling and reheating of the syngas stream. Some available warm gas cleaning technologies include traditional particulate removal devices such as cyclones, candle filters, membranes, and molecular sieves. The warm gas desulphurization process technology developed by RTI LLC (2018) requires hot syngas to remove sulphur and has become commercially ready. Many other hot gas cleanup systems are still under development, given the technical difficulties caused by extreme environmental and operating conditions."

Jan 1, 2018

By P. Lenegan, R. Masethe, R. I. L. Ferreira

Underground mining in high rock-stress environments can induce unanticipated dynamic rockmass deformation, posing a serious risk to the workforce. Data collected by seismic networks are imperative for the design-as-you-mine process. Often an inappropriate assessment of the seismic hazard is done when unnecessary data are included in analytical techniques, particularly short-term time frames. Depending on the methodology or application of data analysis and interpretation, some of the information may not be relevant and even detract from the objective. By using the spatial event clusters associated with active workplaces to define the shape and size of the polygons for data selection for subsequent analysis, a problematic subjective component can be eliminated. The mining of tabular reefs in South Africa, be they gold- or platinum group metals, is very extensive, and underground workplaces are often widespread. Production stoppages are very costly, especially for marginal mines, so there is just cause not to evacuate an entire operation’s workforce following the occurrence of a large mining-induced seismic event. A rationale based on the damaging peak particle velocities (PPV) of the past seismicity can exclude the unaffected underground personnel and allow a quick orderly withdrawal where required. Micro-deformation may precede rockbursting, which can occur on-shift close to the workface. A mine-wide array of geophones suitable for the accurate location and analysis of seismicity may not be able to detect these higher-frequency emissions. Inexpensive but fit-for-purpose accelerometers, providing real-time, continuous measurement of acoustic rockmass deformation near the workplace, integrated through underground and surface communications networks, are shown to record ‘rock-talk’, clearly distinguishable from the instrument background noise, which can be in the order of hours leading up to an imminent damaging seismic event.

Jan 12, 2025

By Dave Deglon, Andrévan der Westhuizen

Objectives ?Survey typical Met Accounting streams at the Zincor refinery ?Determine Precision in Metal Conc?s Measurements for Monthly Met Balance ?Determine the Components of Variance in these Met Acc Values (Sampling, Preparation, Analyses) ??Common plant practice? should be mirrored even though not always in perfect agreement with ?laid down procedures? or ?good practice? ?Mass Measurement and Inventory Measurement was considered in less detail ?not reported here

Jan 1, 2005

By A. V. Wilke

The metallurgical balance is a tool usually applied in the mining industry. The final result is used for different objectives. All the existing software for the calculation of the metallurgical balance fits the numbers in such way that a logical correspondence between the input and output materials exist. Nevertheless, the accuracy of the metallurgical balance strongly depends on the quality of the input data. Division El Teniente of Codelco Chile has been optimizing the metallurgical balance system the last 14 years. As well, it has participated in the development of corporate norms to optimize the operations of sampling and weighting systems. As a consequence, the precision and the accuracy of the metallurgical balance have been improved in a significant way. Also the understanding of process variability was enhanced. The improvements have allowed Codelco to discover and minimize hidden losses and to better support top management decisions. The present paper describes the main aspect of the continuous improvement process.

Jan 1, 2009

Using the philosophy that &apos;change cannot be introduced through memos-you have to get people emotionallyinvolved&apos;, SRK&apos;s Environmental Group in South Africa is helping clients communicate their environmental management objectives more effectively through the powerful medium of interactive industrial theatre. Existing and pending environmental legislation, international pressures, and growing awareness of the environment have led South African industry to the point where responsible care, for both the environment and the health and safety of those affected by the activities of an industry, is now a focus of management policies.

Jan 1, 1995

By V. Sheikhzadeh, S. M. H. Haddad, M. Saghaeian, N. Esmaeili, R. Hejazi

One of the most significant features of iron ore concentrate (pelletising feed) is the specific surface area (SSA) that affects the achievement of desirable pellet properties. There are various methods to determine this parameters and currently, the most common is the Blaine air permeability method. However, due to the simplified assumptions including spherical and identical particles and 50% bed porosity, the Blain test does not provide accurate results. In fact, these two suppositions are far from reality. In this research, comparison of SSA measurement ways are investigated, containing laser diffraction testing and Blaine air permeability, on samples with different SSA, obtained from Ball mill and high pressure grinding rolls (HPGR). The output data showed that the calculated amounts of SSA by means of laser analysis were far greater than any other one. Furthermore, in the same results of Blaine air permeability tests on samples comminuted by different grinding methods, it was observed that the SSA figures from the laser diffraction method for HPGR products were almost 800 units greater than Ball mill ones. Keywords: Pelletising feed, specific surface area, Blaine air permeability, laser diffraction testing

Jan 1, 2020

By Q. Liu, S. Liu, Y. Cui

To reduce the frequency of mining incidents and improve safety and production efficiency, it is important to develop technology for the autonomous positioning and navigation of mining equipment, without the assistance of satellite navigation signals. In this study we review the current technological environment for positioning and navigation underground and present several integrated navigation strategies. Existing underground positioning and navigation technology is described, and the performances of different methods based on this technology analysed and compared. The combination types and positioning effects of underground positioning and navigation strategies are discussed. Recent research directions for filtering methods and positioning estimation algorithms for underground positioning and navigation are reviewed. Finally, we summarize the future direction of underground positioning and navigation technology and related algorithms.

Jun 1, 2021