Low-cost ZigBee (IEEE 802.15.4) modules were
evaluated as an underground radio frequency (RF) positioning technology. The
work, which was carried out in two tunnels considered representative of the
variety of mining conditions, forms part of a study of location technologies
for use in a navigation device in mines and tunnels following an emergency
incident. Accurate positioning within tunnels was successfully demonstrated
over a significant operating range using time-of-flight measurements on multiple
channels and combining the results using a filtered averaging algorithm. It was
further shown that the technology would continue to provide accurate
positioning information in the presence of RFinterference from the types of
microwave networks commonly used in mines and in the presence of metallic
obstructions such as machinery or vehicles that are frequently encountered.
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