Optimization model of GNSS/pseudolites structure design for open-pit mine positioning

A new pseudolites (PLs) structure optimization model of global navigation satellite system (GNSS)/PLs integration positioning system used in deep open-pit mine was presented. Position dilution of precision (Pdop) and reliability were selected as the optimization indicators to build a multi-objective optimization model to decide the optimum PLs location. A scheme was designed by establishing a four-dimensional model taking azimuth (a), elevation angle (e) and epoch (t) of satellites as the input independent variables and Pdop as the dependent variable to calculate the optimum PLs location zone considering the real circumstances. And then the ultimate PLs location can be fixed by testing the curves of Pdop along time. A field collected Trimble R8 GPS data set in China University of Mining and Technology (CUMT) campus was used for the model test to show the effectiveness, and the proposed PLs optimum design scheme was used at the west open-pit mine of Fushun mining group Co., Ltd., in China, better Pdop and reliability have been achieved for the integration system. Both experiments show that the proposed scheme is excellent in designing GNSS/PLs system which is helpful for improving the performance of the positioning system and reducing the cost.