Transcript Arrowhead T1.9 3D localization technology

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Arrowhead T1.9
3D localization technology
Wim Koomen
[email protected]
www.arrowhead.eu
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T1.9 Partners
End-user parties:
• Boliden
• LKAB
Technology providers:
• LTU
• Eistec
• Fotonic
• PS-Tech
www.arrowhead.eu
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Goal of task
Provide 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
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LTU / Eistec
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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.
Sensor data
CoAP services
Platform
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6LoWPAN
UWB localization
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PS-Tech
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High accuracy tracking using a stereo camera based setup
In combination with inertial sensor based tracking
9DOF Inertial Sensors
Stereo-Camera Tracking
System
Optional
Other Sensors
...
Bluetooth 4.0
Sensor Fusion
Web Services
Platform
Ethernet
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...
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High Level Service Architecture (1/2)
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RigidBodySensor (6DOF)
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Provides:
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InertialSensor (9DOF)
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Provides:
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position
orientation
acceleration (g)
rotation (degrees/s)
magnetometer (uT)
Data from InertialSensor can be integrated to act as a
RigidBodySensor.
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High Level Service Architecture (2/2)
Combining the strengths of different sensors can increase the
robustness and accuracy of the localization solution
SensorFusionService
- Subscribes to the data from other RigidBodySensors and
InertialSensors to act as a virtual sensor
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