Arrowhead T1.9 3D localization technology
7
description
Arrowhead T1.9 3D localization technology. Wim Koomen. w [email protected]. T1.9 Partners. End-user parties: Boliden LKAB Technology providers: LTU Eistec Fotonic PS-Tech. Goal of task. Provide localization and positioning in a mining environment At three different levels: - PowerPoint PPT Presentation
Transcript of Arrowhead T1.9 3D localization technology
2
www.arrowhead.eu
T1.9 PartnersEnd-user parties:• Boliden• LKAB
Technology providers:• LTU• Eistec• Fotonic• PS-Tech
3
www.arrowhead.eu
Goal of taskProvide localization and positioning in a mining environment
At three different levels:- Coarse (+/- 20m)- Intermediate (+/- 1m)- Fine (+/- 1cm)
Different levels of accuracy require different types of technology
4
www.arrowhead.eu
LTU / Eistec- Intelligent rock bolt- Using Mulle platform- Every rock bolt has its own
IPv6 address and can establish a wireless mesh network in an ad-hoc manner
- Using triangulation i.c.w. multiple rock bolts a localization accuracy of 10cm can be achieved.
6LoWPAN
Platform
Sensor data CoAP services UWB localization
5
www.arrowhead.eu
PS-Tech- High accuracy tracking using a stereo camera based setup- In combination with inertial sensor based tracking
Platform
9DOF Inertial Sensors
Stereo-Camera TrackingSystem
OptionalOther Sensors
...
Bluetooth 4.0
Ethernet
Sensor Fusion Web Services ...
6
www.arrowhead.eu
High Level Service Architecture (1/2)- RigidBodySensor (6DOF)
- Provides: - position - orientation
- InertialSensor (9DOF)- Provides:
- acceleration (g) - rotation (degrees/s)- magnetometer (uT)
- Data from InertialSensor can be integrated to act as a RigidBodySensor.
7
www.arrowhead.eu
High Level Service Architecture (2/2)Combining the strengths of different sensors can increase the robustness and accuracy of the localization solutionSensorFusionService- Subscribes to the data from other RigidBodySensors and
InertialSensors to act as a virtual sensor
