Navigation of mining machines

This disclosure relates to a mining machine comprising a machine controller comprising a control output port for a machine control signal that controls movement of the mining machine and an inertial navigation system (INS). The INS comprises a position determination unit determining a position of the mining machine, and an input port for an input signal indicative of the movement of the mining machine, the input port being communicatively coupled to the position determination unit. The control output port of the machine controller is communicatively coupled to the input port for the input signal of the INS to allow the position determination unit to calculate a corrected position of the mining machine based on the machine control signal that controls the movement of the mining machine. :204 206 29216 222 2 --- control 210 208 Fig. 2a control control 224 machine a Positioning a l 202- control signals . system 2 signals 2 Fig. 2b