EP4533827A1

EP4533827A1 - Methods, mobile unit, central unit and system in an underground environment

Info

Publication number: EP4533827A1
Application number: EP22738752.9A
Authority: EP
Inventors: Hans WAHLQUIST; Andreas Karvonen
Original assignee: Epiroc Rock Drills AB
Current assignee: Epiroc Rock Drills AB
Priority date: 2022-06-02
Filing date: 2022-06-02
Publication date: 2025-04-09
Also published as: CA3257630A1; WO2023234811A1; AU2022460862A1

Abstract

A method performed by a system for monitoring the performance of a wireless communications network in an underground environment is provided. The system comprises a mobile unit and a central unit. The mobile unit is comprised in a vehicle operating in the underground environment. A location of the vehicle is determined (301). The location is determined based on comparing a movement performed by the vehicle and possible movements in the underground environment. The mobile unit performs (302) one or more measurements of the wireless communications network. The mobile unit transmits (303) network data from the one or more measurements of the wireless communications network and the determined location of the vehicle to the central unit. The network data is associated with a respective location. The central unit receives (304) measured network data associated with a respective determined location. The central unit determines (305) network performance data at a position based on the measured network data and the determined location. The central unit provides (306) network performance data at a position for monitoring the network performance of the wireless communications network in the underground environment.

Description

METHODS, MOBILE UNIT, CENTRAL UNIT AND SYSTEM IN AN UNDERGROUND ENVIRONMENT

TECHNICAL FIELD

Embodiments herein relate to methods, system and arrangements for monitoring network performance in an underground mining environment.

BACKGROUND

In mining and tunneling, there is a constant ongoing process of improving efficiency, productivity and safety. Examples of changes and/or improvements that are carried out to an increasing extent, especially in mining, is the automation, fully or partly, of various processes occurring in mining. Methods for localization, mapping, control and motion planning have enabled development and deployment of fully or partly autonomous vehicles and/or mobile machines, hereinafter denoted as vehicles.

Working in underground environments, e.g., mines, it is important to be able to communicate with, and also remotely control, vehicles and other equipment. Wireless communications networks are often used for this. However, communication over wireless communication networks in underground environments has drawbacks which may impact the performance of the network. Some examples that may impact the network performance is e.g., the shape of the tunnels which are narrow and turns, the amount of surrounding rock, and vehicles or other large equipments that blocks or interferes with signals of the wireless communications network. The underground environment also constantly changes due to excavations. In addition, the underground environments may be immense, and it may be difficult to get a good overview of the entire area.

Consequently, there is a need for improvements in network performance awareness in an underground environment.

SUMMARY

As part of developing embodiments herein a problem has been identified and will first be discussed. A problem in underground environments relates to determining a position of a vehicle. One possible solution is to use the wireless communications network deployed in the underground environment and calculate the position by triangulation and/or trilateration. The same problems as mentioned above, may also impact the accuracy of position determination. In some situations, it may only be possible to determine the closest wireless access point. Thus, methods such as triangulation and/or trilateration may be hard to implement in an underground environment. Another problem in underground environments relates to providing an awareness of network performance. For similar reasons as mentioned above, e.g., the shape of the tunnels which are narrow and turns, the amount of surrounding rock, and vehicles or other large equipments that blocks or interferes with signals of the wireless communications network, the performance of the wireless communications network may be impacted. Autonomous vehicles operating in the underground environment may in some situations rely on the wireless communications network for communicating with a central traffic control system with other vehicles. The underground environment also constantly changes due to excavations. In addition, the underground environments may be immense, and it may be difficult to get a good overview of the entire area. Therefore, collecting information may be problematic and often must be done manually.

An object of embodiments herein is to provide a mechanism for that increases the network awareness of a wireless communications network in an underground environment. The object is achieved by the independent claims.

According to a first aspect, a method performed by a system for monitoring the performance of a wireless communications network in an underground environment is provided. The system comprises a mobile unit and a central unit. The mobile unit is comprised in a vehicle operating in the underground environment. A location of the vehicle is determined. The location is determined based on comparing a movement performed by the vehicle and possible movements in the underground environment. The mobile unit performs one or more measurements of the wireless communications network. The mobile unit transmits network data from the one or more measurements of the wireless communications network and the determined location of the vehicle to the central unit. The network data is associated with a respective determined location. The central unit receives measured network data associated with a respective determined location. The central unit determines network performance data at a position based on the measured network data and the determined location. The central unit provides network performance data at a position for monitoring the performance of the wireless communications network in an underground environment.

According to a second aspect, a method performed by a mobile unit for assisting a central unit in monitoring the performance of a wireless communications network in an underground environment is provided. The mobile unit is comprised in a vehicle operating in the underground environment. The mobile unit determines a location of the vehicle. The location is determined based on comparing a movement performed by the vehicle and possible movements in the underground environment. The mobile unit performs one or more measurements of the wireless communications network. The mobile unit transmits network data from the one or more measurements of the wireless communications network and the determined location of the vehicle to the central unit. The network data is associated with a respective determined location.

According to a third aspect, a method performed by a central unit for monitoring the performance of a wireless communications network in an underground environment is provided. The central unit receives, from a mobile unit comprised in the vehicle operating in the underground environment, measured network data associated with a respective determined location. The central unit determines network performance data at a position based on the measured network data and the determined location. The central unit provides network performance data at a position for monitoring the network performance of the wireless communications network in the underground environment.

According to a fourth aspect, a system adapted to comprising a mobile unit and a central unit is provided. The system is configured to monitor the performance of a wireless communications network in an underground environment. The mobile unit is adapted to be comprised in vehicle adapted to operate in the underground environment. A location of the vehicle is determined. A location is adapted to be determined based on comparing a movement performed by the vehicle and possible movements in the underground environment. The mobile unit performs one or more measurements of the wireless communications network. The mobile unit transmits network data from the one or more measurements of the wireless communications network and the determined location of the vehicle to the central unit. The network data is adapted to be associated with a respective determined location. The central unit receives measured network data adapted to be associated with a respective determined location. The central unit determines network performance data at a position based on the measured network data and the determined location. The central unit provides network performance data at a position for monitoring the network performance of the wireless communications network in the underground environment.

According to a fifth aspect, a mobile unit configured to assist a central unit in monitoring the performance of a wireless communications network in an underground environment is provided. The mobile unit is adapted to be comprised in a vehicle adapted to operate in the underground environment. The mobile unit comprising a memory operable to store instructions and processing circuitry operable to execute the instructions. By executing the instructions, the mobile unit is operable to determine a location of the vehicle. The location is adapted to be determined based on comparing a movement performed by the vehicle and possible movements in the underground environment. The mobile unit performs one or more measurements of the wireless communications network. The mobile unit transmits network data from the one or more measurements of the wireless communications network and the determined location of the vehicle to the central unit. The network data is adapted to be associated with a respective determined location.

According to a sixth aspect, a central unit configured to monitor the performance of a wireless communications network in an underground environment is provided. The central unit comprises a memory operable to store instructions and processing circuitry operable to execute the instructions. By executing the instructions, the central unit is operable to receive, from a mobile unit comprised in the vehicle operating in the underground environment, measured network data adapted to be associated with a respective determined location. The central unit determines network performance data at a position based on the measured network data and the determined location. The central unit provides network performance data at a position for monitoring the network performance of the wireless communications network in the underground environment.

It is furthermore provided herein a computer program comprising instructions, which, when executed on at least one processor, cause the at least one processor to carry out the computer-implemented method above, as performed by the control unit.

Embodiments herein bring the advantage of increased network awareness in the underground environment. This is achieved by making it possible to accurately determines the location of a vehicle operating in the underground environment and associating network performance data to the determined location. A mobile unit performs one or more measurements of the wireless communications network and associates network data from the measurements with a determined location. A central unit receives the network data and the determined location from the mobile unit, determines network performance data at a position based on the network data and the determined location and provides the network performance data for monitoring the performance of the wireless communications network. This leads to an improved and more accurate awareness of the wireless communications network, which in turn leads to an improved efficiency when operating a vehicle in the underground environment.

Further, embodiments herein bring the advantage of an efficient mechanism for monitoring the performance of the wireless communications network in the underground environment. This since mobile units operating in underground environment continuously, such as at periodic intervals, performs measurements on the wireless communications network, associates the measurement data with a location in the underground environment and transmits the measurement data, such as the network data, and the associated location to the central unit. This allows the central unit to monitor the performance of the wireless communications network based on up to date measurement data, which results in an improved network awareness.

BRIEF DESCRIPTIONS OF DRAWINGS

Examples of embodiments herein are described in more detail with reference to attached drawings in which:

Fig. 1 is a schematic block diagram illustrating embodiments of a wireless communications network.

Fig. 2 discloses an example underground environment according to embodiments herein.

Fig. 3 is a flowchart depicting embodiments of a method in a system.

Fig. 4 is a flowchart depicting embodiments of a method in a mobile unit.

Fig. 5 is a flowchart depicting embodiments of a method in a central unit.

Fig. 6a is a signaling diagram according to embodiments herein.

Fig. 6b is a signaling diagram according to embodiments herein.

Figs. 7a-b are schematic block diagrams illustrating embodiments of a mobile unit.

Figs. 8a-b are schematic block diagrams illustrating embodiments of a central unit.

DETAILED DESCRIPTION An object of embodiments herein is to provide a mechanism for that increases the network awareness of a wireless communications network in an underground environment.

Embodiments herein brings the advantage of an increased network awareness in an underground environment. This is achieved, as mentioned above, by making it possible to accurately determines the location of a vehicle operating in the underground environment and associating network performance data to the determined location. Further, embodiments herein bring the advantage of an improved efficiency when operating a vehicle in the underground environment. This by utilizing the increased network awareness for operational control of vehicle in the underground environment.

Fig. 1 shows a schematic illustration of the wireless communications network 100. The wireless communications network 100 comprises one or more Radio Access Networks (RAN). The wireless communications network 100 may use 5G NR but may further use a number of other different technologies, such as, 6G, Wi-Fi, Long Term Evolution (LTE), LTE-Advanced, Wideband Code Division Multiple Access (WCDMA), Global System for Mobile communications/enhanced Data rate for GSM Evolution (GSM/EDGE), Worldwide Interoperability for Microwave Access (WiMax), or Ultra Mobile Broadband (UMB), just to mention a few possible implementations. Base stations such as the base stations 101, operate in the wireless communications network 100. The base stations 101 may be a transmission and reception point e.g. a radio access network node such as a base station, e.g. a radio base station such as a NodeB, an evolved Node B (eNB, eNode B), an NR Node B (gNB), a base transceiver station, a radio remote unit, an Access Point Base Station, a base station router, a transmission arrangement of a radio base station, a stand-alone access point, a Wireless Local Area Network (WLAN) access point or an Access Point Station (AP STA), an access controller, or any other network unit capable of communicating with terminals such as a mobile unit 121 comprised in a vehicle 120 operating in the underground environment the radio device 120 served by one of the base station 101. The base station 101 may be referred to as a serving radio network node and communicates with the mobile unit 121 with Downlink (DL) transmissions to the mobile unit 121 and Uplink (UL) transmissions from the mobile unit 121.

Fig. 1 further shows a system 105 comprising the central unit 110 and the mobile unit 121. The system 105 may comprise one or more mobile units 121. Methods according to embodiments herein are performed by the system 105, the mobile unit 121 and the central unit 110. These nodes may be Distributed Nodes (DN)s and functionality, e.g. comprised in a cloud 190 as shown in Figure 1 may be used for performing or partly performing the methods.

Fig. 2 shows a schematic illustration of an underground environment 160 comprising the wireless communications network 100, which is represented in Fig. 2 as the three base stations 101. A vehicle 120 may operate in the underground environment 160. The vehicle may comprise a mobile unit 121, e.g., for determining a location of the vehicle 12, movements performed by the vehicle 120, and/or performing measurements of the wireless communications network 100. The mobile unit 121 may comprise one or more sensors e,g., for determining movements performed by the vehicle 120. The vehicle 120 may further comprise a vehicle control system and one or more sensors e,g., for determining movements performed by the vehicle 120.

A central unit 110 for monitoring the performance of the wireless communications network 100 may be connected to the wireless communications network 100, allowing the central unit 110 to communicate with the mobile unit 121 over the wireless communications network 100. The central unit 110 may be located in the underground environment 160. Alternatively, it may be located outside the underground environment 160, e.g., at a network operator or in a cloud service. The mobile unit 121 may assist the central unit in monitoring the performance of the wireless communications network 100. The mobile unit 121 may determine a location of the vehicle 120, e.g., by comparing a movement performed by the vehicle with possible movements in the underground environment 160. Alternatively, the mobile unit 121 determines the movement performed by the vehicle 120 and provides the movement to the central unit 110 for determining the location. The mobile unit 121 may perform one or more measurements of the wireless communications network 100, e.g., for measuring the network performance. The mobile unit 121 may transmit network data from the one or more measurements to the central unit 110. The network data may be associated to the determined location. The central unit 110 may determine network performance data at a position based on the network data the determined location. In some examples the position is the determined location, while in other examples the central unit 110 determines the position based on the determined location associated to the network data. The network performance data may be provided by the central unit 110 for monitoring the performance of the wireless communications network 100. As an examples, the central unit generates a network performance map based on the network performance data. The performance of the wireless communications network 100 may be monitored, e.g., based on the provided network performance data. In some examples, an indication indicates when the network performance is below a threshold.

As mentioned above, embodiments herein bring the advantage of an increased network awareness in an underground environment. This may result in increased productivity in the underground environment, since e.g., autonomous vehicles operating in the underground environment may be efficiently operated by adapting operations based on the increased network awareness.

Fig. 3 shows an example embodiment of a method performed by a system 105 for monitoring the performance of a wireless communications network 100 in an underground environment 160. The system comprises the mobile unit 121 and the central unit 110. The mobile unit 121 is comprised in the vehicle 120 operating in the underground environment 160. The system 105 may comprise more than one mobile unit 121, such as a plurality of mobile units 121. In some embodiments, the actions described above is performed by at least some of the plurality of mobile units 121. The method comprises the following actions, which may be taken in any suitable order. Optional actions are referred to as dashed boxes in Fig. 3.

Action 301

A location of the vehicle 120 is determined. The location is determined based on comparing a movement performed by the vehicle 120 and possible movements in the underground environment 160. The possible movements may be based on a map of the underground environment 160. As an example, the movements of the vehicle 120 is compared to possible movements in the underground environment 160 to obtain a possible movement that matches the performed movement of the vehicle 120. The location may then be determined based on the matching possible movement, and in some examples a map of the underground environment. A match may mean that the movement of the vehicle 120 and possible movement is identical, or at least almost identical. Almost identical may mean that a matching rate is above matching threshold. Comparing the movement performed by the vehicle 120 and possible movements in the underground environment 160 may be performed by any one of the mobile unit 121 and the central unit 110. The mobile unit 121 may determine the movements performed by the vehicle 120 based on sensor data from one or more sensors. The one or more sensors may be comprised in the mobile unit 121. Alternatively, the one or more sensors may be comprised in vehicle 120. When the one or more sensors is comprised in the vehicle 120, the mobile unit 121 may obtain the sensor data from the vehicle 120, the vehicle control system of the vehicle 120 and/or directly from the one or more sensors. The sensor data may e.g., be obtained by a wired or wireless communication interface between the mobile unit 121 and the source the sensor data is obtained from. The one or more sensors may e.g., be any one or more out of: A gyroscope, an accelerometer, or any other type of suitable sensor. The mobile unit 121 may further determine the movements performed by the vehicle 120 based on information obtained from e.g., a control system of the vehicle 120. The information may e.g., relate to the direction of travel, such as a forward direction or a backward direction. In other words, based on sensor data obtained from the one or more sensors, and in some examples information obtained from e.g., the control system of the vehicle 120, the mobile unit 121 may determine the movements performed by the vehicle 120.

In some embodiments, the location of the vehicle 120 is further determined based on network measurements, e.g., for determining the relative location of vehicle 120 compared to one or more access points, such as the base stations 101 described above.

In some embodiments, determining the location is further based on a previously determined location. According to this embodiment, the possible movements are possible movements originating from the previously determined location.

In some embodiments, determining the location of the vehicle comprises the mobile unit 121 determining the movement performed by the vehicle 120. The movement performed by the vehicle 120 may hereafter be referred to as data related to the location of the vehicle 120. The data related to the location of the vehicle 120 may further comprise the previously determined location.

In some embodiments, a plurality of locations of the vehicle 120 are determined. The location may be determined periodically, e.g., at certain time and/or distance intervals. Alternatively, or additionally, the location may be determined aperiodically, e.g., based on a received location determination request.

Action 302

The mobile unit 121 performs one or more measurements of the wireless communications network 100 in the underground environment 160.

In some embodiments, a plurality of one or more measurements of the wireless communication network 100 is performed. This may mean that the mobile unit 121 performs one or more measurements at a plurality of locations, e.g., associated to the plurality of determined locations. Alternatively, or additionally, the mobile unit 121 may perform a plurality of one or more measurements at one location, e.g., associated to the determined location.

The mobile unit 121 may perform the one or more measurements periodically, e.g., at certain time and/or distance intervals. Alternatively, or additionally, the one or more measurements may be performed aperiodically, e.g., based on a received measurement request. As an example, one or more measurements may be performed in conjunction with determining the location.

Action 303

The mobile unit 121 transmits network data from the one or more measurements of the wireless communications network 100 and the determined location of the vehicle 120 to the central unit 110. The network data is associated with a respective determined location.

In some embodiments, when the location of the vehicle 120 is determined by the central unit 110, the determined location transmitted by mobile unit 121 is the data related to the location of the vehicle 120. As mentioned above, the data related to the location of the vehicle 120 may be the movement performed by the vehicle 120. Additionally, also as mentioned above, the data related to the location of the vehicle 120 may comprise a previously determined location of the vehicle 120.

In some embodiments, the mobile unit 121 associates the network data with a determined location by a time parameter. This may mean that the network data and the determined location associated to the network data comprises identical, or nearly identical, time parameters, e.g., time stamps, indicating the association. Nearly identical may e.g., mean that the difference is less than a second threshold. Alternatively, or additionally, the mobile unit 121 associates the network data with a determined location by comprising the determined location of the vehicle 120 when the one or more measurements is performed in the network data. As mentioned above, the determined location may be the location of the vehicle 120 determined by the mobile unit 121 by comparing a movement performed by the vehicle 120 and possible movements in the underground environment 160. Alternatively, the determined location may be the movement performed by the vehicle 120, which, also as mentioned above, may be referred to as data related to the location of the vehicle 120.

In some embodiments, the mobile unit 121 transmits the network data from the plurality of one or more measurements. A one or more measurement of the plurality of one or more measurements may be associated with a respective determined location of the plurality of determined locations. In other words, each one or more measurement of the plurality of one or more measurements, may be associated to a respective determined location of the plurality of determined locations. More than one of the plurality of one or more measurements may be associated with the same respective determined location, e.g., when more than one of the plurality of one or more measurements is performed at the same location.

Action 304

The central unit 110 receiving the measured network data associated with a respective determined location.

In some embodiments, when the location of the vehicle 120 is determined by the mobile unit 121, the central unit further receives the determined location of the vehicle 120.

In some embodiments, when the location is determined by the central unit 110, the central unit 110 further receives data related to the location of the vehicle 120. According to this embodiment, the central unit 110 determines the location of the vehicle 120 based on the data related to the location of the vehicle 120. This may mean that the central unit 110 determines the location by, as mentioned above in Action 301, comparing the movement performed by the vehicle 120 and possible movements in the underground environment 160. The movement performed by the vehicle 120 is comprised in the data related to location of the vehicle 120.

In some embodiments, the measured network data is associated with the plurality of determined locations, e.g., when the mobile unit 121 transmits the network data from the plurality of one or more measurements. The central unit 110 may then further receive the plurality of determined locations associated with the measured network data. Alternatively, the data related to the location of the vehicle 120 comprises a plurality of movements performed by the vehicle 120, and the central unit 110 determines the plurality of locations of the vehicle 120 based on the data related to the location of the vehicle 120 as described above.

In some embodiments, the central unit receives measured network data from one or more other mobile units comprised in one or more other vehicles.

Action 305

The central unit 110 determining network performance data at a position based on the measured network data and the determined location. In other words, based on the measured network data and determined location received from the mobile unit 121 , the central unit 110 determines the network performance data at a position, e.g., a position in the underground environment 160. Determining the network performance data may comprise processing the measured network data.

The position may be the determined location. Alternatively, the central unit 110 determines the position based on the determined location. The central unit 110 may determine the position e.g., by interpolation based on the determined location and another location.

In some embodiments, the network performance data is related to any one or more out of: Signal strength, signal quality, and data throughput.

Signal strength may be received signal strength of a reference signal, beacon signal, or another signal transmitted by a radio base station and/or access point. E.g., the signal strength may be Received Signal Strength Indicator (RSSI), Reference Signal Receive Power (RSRP) or any other type of signal strength indicator. Signal quality may e.g., be received signal quality of a signal transmitted by a radio base station and/or access point, such as e.g., Reference Signal Receive Quality (RSRQ), or any other type of signal quality indicator.

In some embodiments, determining the network performance data comprises the central unit 110 determining one or more performance indicators at the position based on the measured network data and the determined location. The one or more performance indicators may be related to any one or more out of: Signal strength, signal quality, and data throughput. This may mean that for a position in the underground environment 160, the central unit 110 may determine network performance data comprising one or more different performance indicators based on the measured network data and the determined location. E.g., the central unit 110 may determine the network performance data be processing the measured network data to obtain data related to the one or more performance indicators and determine the one or more performance indicators based on the obtained processed data.

In some embodiments, the network performance data is determined at a plurality of positions based on the plurality of locations and the measured network data of the plurality of one or more measurements.

In some embodiments, the network performance data is determined based on measured network data received from more than one mobile unit 121.

In some embodiments, the central unit 110 updates the position and/or location based on statistical data, e.g., a mean value based on a plurality of measurements and/or a median value based on a plurality of measurements. The statistical data may be weighted with an accuracy and/or a time since it was performed.

Action 306

The central unit 110 provides network performance data at the position for monitoring the performance of the wireless communications network 100 in the underground environment 160. The network performance data may be provided to e.g., one or more mobile units 121 operating in the underground environment 160, an operator of the wireless communications system or a traffic control system of the underground environment.

In some embodiments, the network performance data is provided at the plurality of positions.

In some embodiments, providing network performance data further comprises that the central unit 110 generates a network performance map based on the determined network performance data. The central unit 110 generates the map by correlating a respective position of the network performance data with a map of the underground environment 160. The central unit 110 associates the network performance data to a respective correlated position of the map. A network performance map may be a map that visualizes the network performance in the underground environment 160. Alternatively, or additionally, the map may be virtual map enabling automated monitoring of the network performance, e.g., based on artificial intelligence and/or machine learning.

Action 307

In some embodiments, the network performance of the wireless communications network 100 is monitored, e.g., based on the provided network performance data. When detecting network performance of the wireless communications network 100 being below a first threshold at a first position, indicating, by an indication, that the network performance is below the first threshold at the first location.

The network performance may be monitored by any one or more out of: The central unit 110, the mobile unit 121, another mobile unit, e.g., comprised in another vehicle operating in the underground environment 160 and an operator of the wireless communications network 160. Analogously, the indicating may be performed by any one or more out of: The central unit 110, the mobile unit 121, another mobile unit, e.g., comprised in another vehicle operating in the underground environment 160 and an operator of the wireless communications network 160. Indicating that the network performance is below the first threshold may e.g., comprise transmitting the indication to the mobile unit 121 , the another mobile unit, the central unit 110 and/or the operator of the wireless communications network 100.

In some embodiments, the indication comprises one or more operational instructions. The operational instructions may indicate one or more operational limitations associated to the first position. An operation instruction may e.g., be to calculate a route of the vehicle 120 that avoids the first position. An operation limitation may e.g., relate to a velocity of the vehicle 120, such as a limitation of the allowed maximum velocity at an area in proximity to the first position, or an indication of disallowed, e.g., prohibited, operations in the area in proximity to the first position. The area in proximity to the first position may be limited by other positions in the underground environment 160 where the network performance is above the first threshold.

Fig. 4 shows an example embodiment of a method performed by the mobile unit 121 for assisting the central unit 110 in monitoring the performance of the wireless communications network 100 in the underground environment 160, wherein the mobile unit 121 is comprised in the vehicle 120 operating in the underground environment 160. The method comprises the following actions, which may be taken in any suitable order. Optional actions are referred to as dashed boxes in Fig. 4.

Action 401

The mobile unit 121 determines the location of the vehicle 120. The location is determined based on comparing a movement performed by the vehicle 120 and possible movements in the underground environment 160. The possible movements may be based on a map of the underground environment 160. As an example, the movements of the vehicle 120 is compared to possible movements in the underground environment 160 to obtain a possible movement that matches the performed movement of the vehicle 120. The location may then be determined based on the matching possible movement, and in some examples a map of the underground environment. A match may mean that the movement of the vehicle 120 and possible movement is identical, or at least almost identical. Almost identical may mean that a matching rate is above matching threshold. As mentioned above, comparing the movement performed by the vehicle 120 and possible movements in the underground environment 160 may be performed by any one of the mobile unit 121 and the central unit 110. The mobile unit 121 may determine the movements performed by the vehicle 120 based on sensor data from one or more sensors. The one or more sensors may be comprised in the mobile unit 121. Alternatively, the one or more sensors may be comprised in vehicle 120. When the one or more sensors is comprised in the vehicle 120, the mobile unit 121 may obtain the sensor data from the vehicle 120, the vehicle control system of the vehicle 120 and/or directly from the one or more sensors. The sensor data may e.g., be obtained by a wired or wireless communication interface between the mobile unit 121 and the source the sensor data is obtained from. The one or more sensors may e.g., be any one or more out of: A gyroscope, an accelerometer, or any other type of suitable sensor. The mobile unit 121 may further determine the movements performed by the vehicle 120 based on information obtained from e.g., a control system of the vehicle 120. The information may e.g., relate to the direction of travel, such as a forward direction or a backward direction. In other words, based on sensor data obtained from the one or more sensors, and in some examples information obtained from e.g., the control system of the vehicle 120, the mobile unit 121 may determine the movements performed by the vehicle 120.

In some embodiments, a plurality of locations of the vehicle 120 are determined.

The location may be determined periodically, e.g., at certain time and/or distance intervals. Alternatively, or additionally, the location may be determined aperiodically, e.g., based on a received location determination request.

Action 402

The mobile unit 121 performs one or more measurements of the wireless communications network 100.

In some embodiments, a plurality of one or more measurements of the wireless communication network 100 is performed.

This may mean that the mobile unit 121 performs one or more measurements at a plurality of locations, e.g., associated to the plurality of determined locations. Alternatively, or additionally, the mobile unit 121 may perform a plurality of one or more measurements at one location, e.g., associated to the determined location. The mobile unit 121 may perform the one or more measurements periodically, e.g., at certain time and/or distance intervals. Alternatively, or additionally, the one or more measurements may be performed aperiodically, e.g., based on a received measurement request. As an example, one or more measurements may be performed in conjunction with determining the location.

Action 403

Action 404

The network performance may be monitored by any one or more out of: The central unit 110, the mobile unit 121, another mobile unit, e.g., comprised in another vehicle operating in the underground environment 160 and an operator of the wireless communications network 160. Analogously, the indicating may be performed by any one or more out of: The central unit 110, the mobile unit 121 , another mobile unit, e.g., comprised in another vehicle operating in the underground environment 160 and an operator of the wireless communications network 160. Indicating that the network performance is below the first threshold may e.g., comprise transmitting the indication to the mobile unit 121 , the another mobile unit, the central unit 110 and/or the operator of the wireless communications network 100.

In some embodiments, the indication comprises one or more operational instructions. The operational instructions may indicate one or more operational limitations associated to the first position.

Fig. 5 shows an example embodiment of a method performed by the central unit 110 for monitoring the performance of a wireless communications network 100 in an underground environment 160. The method comprises the following actions, which may be taken in any suitable order. Optional actions are referred to as dashed boxes in Fig. 5.

Action 501

The central unit 110 receives, from the mobile unit 121 , measured network data associated with a respective determined location. The mobile unit 121 is comprised in the vehicle 120. The vehicle 120 operates in the underground environment 160. In some embodiments, the location of the vehicle 120 is determined by the mobile unit 121. The central unit 110 then further receives the determined location associated with the measured network data.

In some embodiments, the location of the vehicle 120 is determined by the central unit 110. The central unit 110 the further receives data related to the location of the vehicle 120. According to this embodiment, the central unit 110 determines the location of the vehicle 120 based on the data related to the location of the vehicle 120. The data related to the location of the vehicle 120 may comprise movement performed by the vehicle 120. This may mean that the central unit 110 determines the location by comparing the movement performed by the vehicle 120 and possible movements in the underground environment 160. The possible movements may be based on a map of the underground environment 160. As an example, the movements of the vehicle 120 is compared to possible movements in the underground environment 160 to obtain a possible movement that matches the performed movement of the vehicle 120. The location may then be determined based on the matching possible movement, and in some examples a map of the underground environment. A match may mean that the movement of the vehicle 120 and possible movement is identical, or at least almost identical. Almost identical may mean that a matching rate is above matching threshold. Comparing the movement performed by the vehicle 120 and possible movements in the underground environment 160 may be performed by any one of the mobile unit 121 and the central unit 110. In some examples, the central unit 110 may further determine the location based on a previously determined location. According to this example, the possible movements are possible movements originating from the previously determined location. The previously known location may e.g., be obtained from a memory in the central unit 110, an external database or cloud service. Alternatively, the received data related to the location of the vehicle 120 may comprise the previously determined location.

In some embodiments, the measured network data is associated with the plurality of determined locations, e.g., when the mobile unit 121 transmits the network data from the plurality of one or more measurements. The central unit 110 may then further receive the plurality of determined locations associated with the measured network data. Alternatively, the data related to the location of the vehicle 120 comprises a plurality of movements performed by the vehicle 120, and the central unit 110 determines the plurality of locations of the vehicle 120 based on the data related to the location of the vehicle 120 as described above. In some embodiments, the central unit 110 further receives measured network data from one or more other mobile units comprised in one or more other vehicles. The location of the one or more other vehicles is determined and/or received as described above for the vehicle 120.

Action 502

Signal strength may be received signal strength of a reference signal, beacon signal, or another signal transmitted by a radio base station and/or access point. E.g., the signal strength may be RSSI, RSRP or any other type of signal strength indicator. Signal quality may e.g., be received signal quality of a signal transmitted by a radio base station and/or access point, such as e.g., RSRQ, or any other type of signal quality indicator.

In some embodiments, determining the network performance data comprises the central unit 110 determining one or more performance indicators at the position based on the measured network data and the determined location. The one or more performance indicators may be related to any one or more out of: Signal strength, signal quality, and data throughput. This may mean that for a position in the underground environment 160, the central unit 110 may determine network performance data comprising one or more different performance indicators based on the measured network data and the determined location. E.g., the central unit 110 may determine the network performance data be processing the measured network data to obtain data related to the one or more performance indicators and determine the one or more performance indicators based on the obtained processed data. In some embodiments, the network performance data is determined at a plurality of positions based on the plurality of locations and the measured network data of the plurality of one or more measurements.

Action 503

Action 504

Figs. 6a and b depict examples of signaling diagrams according to embodiments herein. The signaling diagrams also reflect actions corresponding to those disclosed in the detailed description of Figs. 3-5. Some of the actions are performed internally by a Optional actions are referred to as dashed boxes and/or lines in Fig. 6a and b.

Fig. 6a exemplifies embodiments where the system 105 monitors the network performance of the wireless communications network 100 based on network performance data at a position. The example comprises the following actions, which may be taken in any suitable order.

S61a. The mobile unit 121 determines a location of the vehicle 120 e.g., in accordance with any of Actions 301 and 401 above. The mobile unit 121 may e.g., determine movements performed by the vehicle 120, and determines the location by comparing the performed movements and possible movements in the underground environment 160. Alternatively, a plurality of locations is determined. S62a. The mobile unit 121 performs one or more measurements of the wireless communications network 100, e.g., in accordance with any of Actions 302 and 402 above. Alternatively, the mobile unit 121 performs a plurality of one or more measurements.

S63a. The mobile unit 121 transmit network data from the one or more measurements and the determined location, e.g., in accordance with any of Actions 303 and 403 above, to the central unit 121. The network data is associated to the determined location, e.g., a respective determined location. Alternatively, the mobile unit 121 transmits network data from the plurality of one or more measurements. The central unit 110 receives the measured network data, e.g., in accordance with any of Actions 304 and 501 above. The central unit may further receive the determined location associated to the measured network data. Alternatively, the central unit 110 receives measured network data from the plurality of one or more measurements and, in some examples, the plurality of determined locations. In some examples, the central unit 110 receives measured network data from a plurality of mobile units 121.

S64a. The central unit 110 determines network performance data at a position based on the received network data and determined location, e.g., in accordance with any of Actions 305 and 502 above. In some examples, the position is the determined location. Alternatively, the position is determined based on the determined location. In some examples, the central unit 110 determined network performance data at a plurality of positions, e.g., based on the measured network data received from the mobile unit 121, and/or based on measure network data received from a plurality of mobile units 121.

S65a. The central unit 110 provides the network performance data for monitoring the performance of the wireless communications network 100, e.g., in accordance with any of Actions 306 and 503. In some examples, the central unit 110 generates a network performance map for monitoring the network performance.

S66a. The central unit 110, or in some examples, the mobile unit 121 or another unit such as an operator of the wireless communications system 100 or a traffic control system of the underground environment, may monitor the performance of the wireless communications network 100, e.g., in accordance with any of Actions 307 and 504. When detecting that the network performance is below the first threshold, an indication may be provided. The indication may indicate that the network performance is below the first threshold.

Fig. 6b exemplifies embodiments where the system 105 monitors the network performance of the wireless communications network 100 based on network performance data at a position. The example comprises the following actions, which may be taken in any suitable order.

S61b. The mobile unit 121 determines a location of the vehicle 120 e.g., in accordance with any of Actions 301 and 401 above. Determining the location in this example means determining the movements performed by the vehicle 120, which as mentioned above may be referred to a data related to the location of the vehicle 120.

S62b. The mobile unit 121 performs one or more measurements of the wireless communications network 100, e.g., in accordance with any of Actions 302 and 402 above. Alternatively, the mobile unit 121 performs a plurality of one or more measurements.

S63b. The mobile unit 121 transmit network data from the one or more measurements and the determined location, i.e. the data related to the location of the vehicle 120, e.g., in accordance with any of Actions 303 and 403 above, to the central unit 121. The network data is associated to the determined location, e.g., a respective determined location. Alternatively, the mobile unit 121 transmits network data from the plurality of one or more measurements. The central unit 110 receives the measured network data, e.g., in accordance with any of Actions 304 and 501 above. The central unit may further receive the determined location, i.e. the data related to the location of the vehicle 120, associated to the measured network data. The central unit 110 may receive measured network data from the plurality of one or more measurements and, in some examples, the plurality of determined locations. In some examples, the central unit 110 receives measured network data from a plurality of mobile units 121.

S64b. The central unit 110 determines the location of the vehicle 120 based on the data related to the location of the vehicle 120 by comparing the performed movements and possible movements in the underground environment 160, e.g., in accordance with any of Actions 304 and 501 above. The central unit 110 determines network performance data at a position based on the received network data and determined location, e.g., in accordance with any of Actions 305 and 502 above. In some examples, the position is the determined location. Alternatively, the position is determined based on the determined location. In some examples, the central unit 110 determined network performance data at a plurality of positions, e.g., based on the measured network data received from the mobile unit 121, and/or based on measure network data received from a plurality of mobile units 121.

S65b. The central unit 110 provides the network performance data for monitoring the performance of the wireless communications network 100, e.g., in accordance with any of Actions 306 and 503. In some examples, the central unit 110 generates a network performance map for monitoring the network performance.

S66b. The central unit 110, or in some examples, the mobile unit 121 or another unit such as an operator of the wireless communications system 100 or a traffic control system of the underground environment, may monitor the performance of the wireless communications network 100, e.g., in accordance with any of Actions 307 and 504. When detecting that the network performance is below the first threshold, an indication may be provided. The indication may indicate that the network performance is below the first threshold.

Fig. 7a disclose an example configuration of the mobile unit 121 configured to assist the central unit 110 in monitoring the performance of the wireless communications network 100 in the underground environment 160. The mobile unit 121 is adapted to be comprised in the vehicle 120 adapted to operate in the underground environment 160. The mobile unit 121 comprises a memory 750 operable to store instructions and processing circuitry 740 operable to execute the instructions. The mobile unit 121 may comprise one or more sensors (not shown in Fig. 7a), such as e.g., an accelerometer, a gyroscope, and/or any other type of suitable sensor.

The mobile unit 121 may comprise an input and output interface 700 configured to communicate with, e.g., the central unit 110, another mobile unit 121 and other units connected to the wireless communications network 100.

Fig. 7b also discloses an example configuration of processing circuitry for a mobile unit, e.g., the processing circuitry 740 disclosed in Fig. 7a.

The mobile unit 121 is configured to, e.g. by means of a performing unit 710 in the mobile unit 121 , perform one or more measurements of the wireless communications network 100.

The mobile unit 121 is configured to, e.g. by means of a determining unit 720 in the mobile unit 121 , determine the location of the vehicle 120. The location is adapted to be determined based on comparing a movement performed by the vehicle 120 and possible movements in the underground environment 160.

The mobile unit 121 is configured to, e.g. by means of a transmitting unit 730 in the mobile unit 121 , transmit network data from the one or more measurements of the wireless communications network 100 and the determined location of the vehicle 120 to the central unit 110. The network data is adapted to be associated with a respective determined location.

The mobile unit 121 may be configured to, e.g. by means of a monitoring unit 735 in the mobile unit 121 , monitoring the network performance of the wireless communications network 100. The mobile unit 121 is configured to monitor the network performance by further being configured to: When detecting network performance of the wireless communications network 100 being below the first threshold at a first position, indicating, by an indication, that the network performance is below the first threshold at the first location.

The embodiments herein may be implemented through the processing circuitry 740 in the mobile unit 121 depicted in Figure 7a, together with respective computer program code for performing the functions and actions of the embodiments herein. The processing circuitry 740 may comprise one or more processors and one or more memory units. The memory units may be the memory 750. The program code mentioned above may also be provided as a computer program product, for instance in the form of a data carrier carrying computer program code for performing the embodiments herein when being loaded into the mobile unit 121. One such carrier may be in the form of a CD ROM disc. It is however feasible with other data carriers such as a memory stick. The computer program code may furthermore be provided as pure program code on a server and downloaded to the mobile unit 121.

The memory 750 of the mobile unit 121 may further comprise one or more memory units. The memory 750 is configured to store instructions executable by the processing circuitry 570. The memory 580 is arranged to be used to store e.g. information, messages, indications, configurations, thresholds, measurements, locations, positions, network data, network performance data, time periods, conditions, locations, sensor data and applications to perform the methods herein when being executed in the mobile unit 121.

In some embodiments, a computer program 760 comprises instructions, which when executed by the processing circuitry 740, e.g., of the respective at least one processor of the processing circuitry 740, cause the processing circuitry 740 of the mobile unit 121 to perform the actions above.

In some embodiments, a respective carrier 770 comprises the respective computer program 760, wherein the carrier 770 is one of an electronic signal, an optical signal, an electromagnetic signal, a magnetic signal, an electric signal, a radio signal, a microwave signal, or a computer-readable storage medium. Those skilled in the art will appreciate that the units in the mobile unit 121 described above may refer to a combination of analogue and digital circuits, and/or one or more processors configured with software and/or firmware, e.g., stored in the mobile unit 121 , that when executed by the respective one or more processors such as the processors described above. One or more of these processors, as well as the other digital hardware, may be included in a single Application-Specific Integrated Circuitry (ASIC), or several processors and various digital hardware may be distributed among several separate components, whether individually packaged or assembled into a system-on-a- chip (SoC).

Fig. 8a disclose an example configuration of the central unit 110 configured to monitor the performance of the wireless communications network 100 in the underground environment 160. The central unit 110 comprises a memory 880 operable to store instructions and processing circuitry 870 operable to execute the instructions. The central unit 110 may be located in the underground environment 160. Alternatively, it may be located outside the underground environment 160, e.g., at a network operator or in a cloud service.

The central unit 110 may comprise an input and output interface 800 configured to communicate with, e.g., the mobile unit 110, another mobile unit 121 and other units connected to the wireless communications network 100.

Fig. 8b also discloses an example configuration of processing circuitry for a central unit, e.g., the processing circuitry 870 disclosed in Fig. 8a.

The central unit 110 is configured to, e.g. by means of a receiving unit 820 in the central unit 110, receive, from the mobile unit 121 comprised in the vehicle 120 operating in the underground environment 160, measured network data associated with a respective determined location.

The central unit 110 may be configured to, e.g. by means of a determining unit 810 in the central unit 110, determine network performance data at a position based on the measured network data and the determined location,

The central unit 110 is configured to, e.g. by means of a providing unit 830 in the mobile unit 121 , provide network performance data at a position for monitoring the network performance of the wireless communications network 100 in the underground environment 160.

The central unit 110 may be configured to, e.g. by means of a monitoring unit 840 in the central unit 110, monitoring the network performance of the wireless communications network 100. The central unit is configured to monitor the network performance by further being configured to: When detecting network performance of the wireless communications network 100 being below the first threshold at a first position, indicating, by an indication, that the network performance is below the first threshold at the first location.

The embodiments herein may be implemented through the processing circuitry 870 in the central unit 110 depicted in Figure 8a, together with respective computer program code for performing the functions and actions of the embodiments herein. The processing circuitry 870 may comprise one or more processors and one or more memory units. The memory units may be the memory 880. The program code mentioned above may also be provided as a computer program product, for instance in the form of a data carrier carrying computer program code for performing the embodiments herein when being loaded into the central unit 110. One such carrier may be in the form of a CD ROM disc. It is however feasible with other data carriers such as a memory stick. The computer program code may furthermore be provided as pure program code on a server and downloaded to the central unit 110.

The memory 880 of the central unit 110 may further comprise one or more memory units. The memory 880 is configured to store instructions executable by the processing circuitry 870. The memory 880 is arranged to be used to store e.g. information, messages, indications, configurations, thresholds, measurements, locations, positions, network data, network performance data, time periods, conditions, locations, sensor data and applications to perform the methods herein when being executed in the central unit 110.

In some embodiments, a computer program 890 comprises instructions, which when executed by the processing circuitry 870, e.g., of the respective at least one processor of the processing circuitry 870, cause the processing circuitry 870 of the central unit 110 to perform the actions above.

In some embodiments, a respective carrier 895 comprises the respective computer program 890, wherein the carrier 895 is one of an electronic signal, an optical signal, an electromagnetic signal, a magnetic signal, an electric signal, a radio signal, a microwave signal, or a computer-readable storage medium.

Those skilled in the art will appreciate that the units in the central unit 110 described above may refer to a combination of analogue and digital circuits, and/or one or more processors configured with software and/or firmware, e.g., stored in the central unit 110, that when executed by the respective one or more processors such as the processors described above. One or more of these processors, as well as the other digital hardware, may be included in a single Application-Specific Integrated Circuitry (ASIC), or several processors and various digital hardware may be distributed among several separate components, whether individually packaged or assembled into a system-on-a- chip (SoC).

It will be appreciated that the foregoing description and the accompanying drawings represent non-limiting examples of the methods and apparatus taught herein. As such, the apparatus and techniques taught herein are not limited by the foregoing description and accompanying drawings. Instead, the embodiments herein are limited only by the following claims and their legal equivalents.

Claims

1. A method performed by a system (105) for monitoring the performance of a wireless communications network (100) in an underground environment (160), wherein the system comprises a mobile unit (121) and a central unit (110), wherein the mobile unit (121) is comprised in a vehicle (120) operating in the underground environment (160), the method comprising: determining (301) a location of the vehicle (120), wherein the location is determined based on comparing a movement performed by the vehicle (120) and possible movements in the underground environment (160), performing (302), by the mobile unit (121), one or more measurements of the wireless communications network (100); transmitting (303), from the mobile unit (121), network data from the one or more measurements of the wireless communications network (100) and the determined location of the vehicle (120) to the central unit (110), wherein the network data is associated with a respective location, receiving (304) at the central unit (110), measured network data associated with a respective determined location; determining (305), by the central unit (110), network performance data at a position based on the measured network data and the determined location, providing (306), by the central unit (110), network performance data at a position for monitoring the network performance of the wireless communications network (100) in the underground environment (160).

2. A method according to claim 1 , wherein a plurality of locations of the vehicle (120) are determined; a plurality of one or more measurements of the wireless communication network is performed; the plurality of locations is associated with the plurality of one or more measurements; network performance data is determined at a plurality of positions based on the plurality of locations and the plurality of one or more measurements; and network performance data is provided at a plurality of positions.

3. A method according to any one of the preceding claims, wherein the providing (306) further comprises: generating, by the central unit (110), a network performance map based on the determined network performance data, wherein the generating is done by correlating a respective position of the network performance data with a map of the underground environment (160) and associating the network performance data to a respective correlated position of the map.

4. The method according to any one of the preceding claims, wherein the network performance data is related to any one or more out of: signal strength, signal quality, and data throughput.

5. The method according to any one of the preceding claims, wherein determining (305) the network performance data comprises determining one or more performance indicators at the position based on the measured network data and the determined location, wherein the one or more performance indicators is related to any one or more out of: signal strength, signal quality, and data throughput.

6. The method according to any one of the preceding claims, further comprising monitoring (307) the network performance of the wireless communications network (100), wherein monitoring (307) comprises: when detecting network performance of the wireless communications network (100) being below a first threshold at a first position, indicating, by an indication, that the network performance is below the first threshold at the first location.

7. The method according to claim 4, wherein the indication comprises one or more operational instructions, which operational instructions indicates one or more operational limitations associated to the first position.

8. The method according to any one of the preceding claims, wherein determining (305) the network performance data further comprises updating the position and/or location based on statistical data.

9. The method according to any one of the preceding claims, wherein determining (301) the location is further based on a previously determined location, and wherein the possible movements are possible movements originating from the previously determined location.

10. The method according to any one of the preceding claims, wherein any one out of: the position is the determined location, or the position is determined, by the central unit (110), based on the determined location.

11. The method according to any one of the preceding claims, wherein the mobile unit (121) is more than one mobile unit (121).

12. A method performed by a mobile unit (121) for assisting a central unit (110) in monitoring the performance of a wireless communications network (100) in an underground environment (160), wherein the mobile unit (121) is comprised in a vehicle (120) operating in the underground environment (160), the method comprising: determining (401) a location of the vehicle (120), wherein a location is determined based on comparing a movement performed by the vehicle (120) and possible movements in the underground environment (160), performing (402) one or more measurements of the wireless communications network (100); transmitting (403) network data from the one or more measurements of the wireless communications network (100) and the determined location of the vehicle (120) to the central unit (110), wherein the network data is associated with a respective determined location.

13. A method performed by a central unit (110) for monitoring the performance of a wireless communications network (100) in an underground environment (160), the method comprising: receiving (501), from a mobile unit (121) comprised in a vehicle (120) operating in the underground environment (160), measured network data associated with a respective determined location; determining (502) network performance data at a position based on the measured network data and the determined location, providing (503) network performance data at a position for monitoring the network performance of the wireless communications network (100) in the underground environment (160).

14. A computer program (590) comprising instructions, which when executed by a processing circuitry (570), causes the processing circuitry (570) to perform actions according to any of the claims 1-13.

15. A system (105) adapted to comprising a mobile unit (121) and a central unit (110), the system (105) configured to monitor the performance of a wireless communications network (100) in an underground environment (160), wherein the mobile unit (121) is adapted to be located on a vehicle (120) adapted to operate in the underground environment (160), such that the system is operable to: determine, a location of the vehicle (120), wherein a location is adapted to be determined based on comparing a movement performed by the vehicle (120) and possible movements in the underground environment (160), perform, by the mobile unit (121), one or more measurements of the wireless communications network (100), transmit, from the mobile unit (121), network data from the one or more measurements of the wireless communications network (100) and the determined location of the vehicle (120) to the central unit (110), wherein the network data is adapted to be associated with a respective determined location, receive at the central unit (110), measured network data adapted to be associated with a respective determined location, determine, by the central unit (110), network performance data at a position based on the measured network data and the determined location, providing, by the central unit (110), network performance data at a position for monitoring the network performance of the wireless communications network (100) in the underground environment (160).

16. A mobile unit (121) configured to assist a central unit (110) in monitoring the performance of a wireless communications network (100) in an underground environment (160), wherein the mobile unit (121) is adapted to be comprised in a vehicle (120) adapted to operate in the underground environment (160), the mobile unit (121) comprising a memory (750) operable to store instructions and processing circuitry (740) operable to execute the instructions, such that the mobile unit (121) is operable to: determine a location of the vehicle (120), wherein the location is adapted to be determined based on comparing a movement performed by the vehicle (120) and possible movements in the underground environment (160), perform one or more measurements of the wireless communications network (100), transmit network data from the one or more measurements of the wireless communications network (100) and the determined location of the vehicle (120) to the central unit (110), wherein the network data is adapted to be associated with a respective determined location.

17. A central unit (110) configured to monitor the performance of a wireless communications network (100) in an underground environment (160), the central unit (110) comprising a memory (880) operable to store instructions and processing circuitry (870) operable to execute the instructions, such that the central unit (121) is operable to: receive, from a mobile unit (121) comprised in a vehicle (120) operating in the underground environment (160), measured network data associated with a respective determined location; determine network performance data at a position based on the measured network data and the determined location, provide network performance data at a position for monitoring the network performance of the wireless communications network (100) in the underground environment (160).