📋 Case Study

Underground Copper Mine AHS Deployment at Codelco El Teniente

Limited GNSS availability, high dust, and narrow ramps requiring <1.2m lateral accuracy

🏗️ Project Overview

Integration of 24 CAT R1700 autonomous haulers in Block Caving operations

🎯 Challenge

Limited GNSS availability, high dust, and narrow ramps requiring <1.2m lateral accuracy

🔧 Design Approach

Hybrid SLAM-LiDAR + inertial navigation with meshed UWB anchor network (128 nodes)

📐 Design Diagram

Every 4.7 mChallenges:GNSS denied • High dust • Narrow rampsLateral accuracy <1.2 mAHS Vehicle

AI-generated project design illustration

📐 Key Calculations

UWB Anchor Spacing

Max range × 0.7

Result: 21 m

Ensures 99.2% positioning coverage

SLAM Loop Closure Frequency

Scan density × drift compensation rate

Result: every 4.7 m

Limits cumulative drift to <0.3m/100m

📊 Results

98.4% uptime, 22% reduction in ramp collision incidents, 14% increase in ore movement efficiency

💡 Lessons Learned

• •UWB infrastructure must be dust-sealed and vibration-isolated
• •SLAM map registration requires daily ground truth calibration

✅ Key Takeaways

• 1UWB infrastructure must be dust-sealed and vibration-isolated
• 2SLAM map registration requires daily ground truth calibration