ETH - Indoor Positioning & Indoor Navigation


08:15 - 08:45	Robert Schmitt, Susanne Nisch, Alexander Schönberg (presenting author), Francky Demeester, Steven Renders: Performance Evaluation of iGPS for Industrial Applications Precise measurements in large volumes will be a key technology in tomorrow’s industrial applications. The iGPS system of Nikon Metrology is a measuring system, which represents a suitable compromise for measurement uncertainty, scalable work area and potential number of measuring points. This advantage is used at WZL to show the use of iGPS in industrial applications with two cooperating robots to allow absolutely precise movements. The measurement uncertainty of the iGPS-System influences its possible applications. Already performed analyses show an uneven distribution of the measurement uncertainty. The objective of these analyses is the definition of areas with minimized measurement uncertainty and building up a basis for the robot control. Currently a basic control loop is implemented to identify and roadmap further development topics. The control loops extend the Adaptive Robot Control (ARC) delivered by Nikon Metrology and show the possibility to use them in dynamic industrial applications.

08:45 - 09:15	Julia Schwendemann (presenting author, at HS Karlsruhe), Tilman Müller, Robert Krautschneider (at VMT): Indoor navigation of machines and measuring devices with iGPS Nikon’s iGPS is a very flexible large volume measurement system that is used mainly in industrial applications for alignment, inspection and tracking. In this paper two applications are presented that demonstrate iGPS feasibility in a larger context. To combine the iGPS flexibility and point density of scanning, a laser scanner was integrated into iGPS. Equipped with several iGPS sensors the scanner position is reported in the higher-level coordinate system provided by iGPS, and thus the scanner can be moved freely in the working area without further need to relate different scans to each other. Although it was designed with industrial applications in mind, iGPS can be used in different environments, for example in tunnel navigation. The navigation of road headers and other mobile excavation machines is a difficult task, since the measurement system has to deliver robust 6-degress-of-freedom-measurements of fast moving objects.

09:15 - 09:45	Claudia Depenthal: Path Tracking with iGPS iGPS technology is a laser-based indoor system with optical sensors and transmitters to determine the 3D position of static or moving objects. The technology is based on internal time measurements related to spatial rays that intersect at sensors in the measuring volume. Due to the measurement principle of iGPS, tracking measurements can caused a delay time which will lead to deviations in spatiotemporal positioning. Utilizing the new Digital Input Module it is possible to analyze the kinematic performance of the iGPS metrology system with the time-referenced 4D test and calibration system. By using the latest equipment and Surveyor software it was possible to show that the iGPS system has made significant improvement in tracking capability. In this experimental set-up, the system could collect and process data up to object velocities of 3 m/s. At this high velocity, the tracking deviations for the 3D position were less than 0.3 mm and the 4D tracking deviations were less than 1.5 mm.

Industrial Metrology & Geodetic Systems, iGPS, Part 2

Session Chair: Prof. Thomas Wunderlich, TU München

10:15 - 10:45	Chris Rizos (presenting author, at University of New South Wales), Gethin Roberts, Joel Barnes, Dave Small (at Locata), Nunzio Gambale: Locata: A new high accuracy indoor positioning system This technical paper describes indoor positioning results with the latest generation of Locata positioning devices incorporating the new TimeTenna technology. TimeTenna is a unique technology designed to mitigate the effects of severe RF multipath in precise indoor positioning applications. In order to test Locata’s TimeTenna technology a LocataNet was set up in an all-steel warehouse environment. This paper will present for the first time the results of trials comparing Locata’s positioning solutions with a robotic total station set up as a truth system. The results demonstrate that Locata’s TimeTenna enables cm-level positioning in severe multipath environments where conventional high-accuracy radiopositioning has previously been impossible.

10:45 - 11:15	Burkhard Boeckem: New Approaches in Laser Tracker Based High-Accuracy Indoor Navigation Laser trackers are capable of high-accuracy indoor navigation by tracking reflectors in 3D object space. Currently these navigation tasks, e.g. building applications, can be executed with high-dynamic absolute interferometer (AIFM) based laser trackers or also most recently with absolute distance meter (ADM) only trackers with automated target recognition (ATR) technology. However, if a true 6 degree of freedom (6DoF) approach is required, e.g. for position and orientation determination simultaneously, a high-dynamic absolute tracker can be equipped with a special vision system. These aforementioned technologies delivering dynamic high-accuracy 6D data can be used for navigating tactile devices for probing or sensors for object scanning. Furthermore, these laser trackers based indoor navigation systems are then capable of positioning, guiding and controlling of robots and machines. Within this presentation a selection of the new technological concepts of laser tracker based indoor navigation will be presented and their direct benefits and new potentials in various applications will be discussed.

11:15 - 11:45	Christoph Herrmann (presenting author), Maria Hennes: Positioning of robots by determining 6DOF Within the “Sonderforschungsbereich Transregio 10” a process chain for flexible production and machining of extruded aluminum profiles is developed and put into practice. The project is a co-operation of the Karlsruhe Institute of Technology (KIT), the University Munich and the University Dortmund. The process chain includes robots for fully automated handling of the profiles. To guarantee the correct form of the extruded profile the robots have to be precisely aligned with it. Therefore their tool centre points (TCPs) have to be known exactly. A method is presented, which delivers the TCPs using 6DOF equipment. For determining the robots synchronization measurements with both trackers at the same time were carried out. Therefore a trigger signal from the robot’s controller was sent to the trackers. First results of synchronized measuring with two trackers will be presented.

11:45 - 12:00	Sonja Gamse (presenting author), Thomas A. Wunderlich, Peter Wasmeier, Dušan Kogoj: The Use of Kalman Filtering in Combination with an Electronic Tacheometer Modern electronic tacheometers offer the possibility to capture kinematic processes in real time. In case the kinematic process is observed with only one measurement system, we have no possibility to perform redundant observations that would enable the accuracy estimation of observations and computed values. The Kalman filter represents a method of advanced geodetic analysis and as such adjusts the redundant data in an optimum way. In combination with a Global Positioning System the use of Kalman filtering is wide spread and well known. Incorporating a time component directly into a processing of terrestrial kinematic observations demands good knowledge about the electronic tacheometer capabilities and also a procedure of processing kinematic terrestrial observations. For this purpose the developed model of Kalman filter for processing kinematic terrestrial observations was tested on the reference trajectory in the Geodetic Laboratory of the Technical University Munich.

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