الفهرس 
Chapter One IntroductionOnly 14 pages are availabe for public view
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Abstract
Mining operation is executed under dangerous environment. Mine health
plays an important role in mining operation and working rate and it has to be
checked. The knowledge of mine track is necessary for checking mine
health. Mine track is determined as a part of mine mapping process.
Mapping operation may be executed by using terrestrial surveying
instruments, like total station or using positioning systems like Global
Positioning System (GPS). plane surveying is an accurate method to get the
position of points that represent object map but it does not give dense
information and consumes time, effort and cost. GPS is an effective system
when the process is executed in open area as surface mines but it is not
working when the process is under terrain surface as underground mines and
tunnels.
So, it is important to get alternative ways to get the mine track with dense
positioning information. This is the main motivation to test the capabilities of
Inertial Navigation System to get a map of mine track with dense and
accurate positioning information. This thesis will introduce a new technique
for mine mapping using inertial navigation technology.
In order to validate the INS algorithm, a toolbox developed by GPSoft under
MATLAB environment is used to generate a reference and INS trajectories.
Deep investigation and analysis of the affected error sources of INS has been
conducted. The attained results indicated that the accuracy of INS depends
upon the error sources. So it is important to integrate INS with external
positioning system to improve the INS accuracy. This integration shows
significant impact on the accuracy of resulting mine track.
The attained results indicated that INS can be integrated with GPS for the
mapping of surface mines or integrated with Ground Control Points (GCP)
for the mapping of underground mines and tunnels.