1. A method of determining the global pose of a mining shovel, the method including: as a first stage computing the location of the mining shovel carbody (c-frame) relative to a local geodetic frame (g-frame) using a global positioning system, an inclinometer, and a swing axis resolver; as a second stage computing a house pose (h-frame) relative to the c-frame using a global positioning system, an axis inertial sensor and a swing axis resolver. as a third stage computing a bucket pose (b-frame) relative to the h-frame using crowd and hoist axis resolvers.