摘要：A novel radar-based system for longwall c.al mine mac.ine loc.lisation is desc.ibed. The system, based on a radar-ranging sensor and designed to loc.lise mining equipment with respec. to the mine tunnel gate road infrastruc.ure, is developed and trialled in an underground c.al mine. The c.allenges of reliable sensing in the mine environment are c.nsidered, and the use of a radar sensor for loc.lisation is justified. The diffic.lties of ac.ieving reliable positioning using only the radar sensor are examined. Several probabilistic.data proc.ssing tec.niques are explored in order to estimate two key loc.lisation parameters from a single radar signal, namely along-trac. position and ac.oss-trac. position, with respec. to the gate road struc.ures. For the c.se of ac.oss-trac. position, a c.nventional Kalman filter approac. is suffic.ent to ac.ieve a reliable estimate. However for along-trac. position estimation, spec.fic.infrastruc.ure elements on the gate road rib-wall must be identified by a trac.ing algorithm. Due to c.mplexities assoc.ated with this data proc.ssing problem, a novel visual analytic. approac. was explored in a 3D interac.ive display to fac.litate identific.tion of signific.nt features for use in a c.assifier algorithm. Based on the c.assifier output, identified elements are used as loc.tion waypoints to provide a robust and ac.urate mining equipment loc.lisation estimate.