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Arrowhead T1.9 3D localization technology

Arrowhead T1.9 3D localization technology. Wim Koomen. w im.koomen@ps-tech.com. 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:

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Arrowhead T1.9 3D localization technology

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  1. Arrowhead T1.93D localization technology Wim Koomen wim.koomen@ps-tech.com

  2. T1.9 Partners End-user parties: Boliden LKAB Technology providers: LTU Eistec Fotonic PS-Tech

  3. 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

  4. 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.

  5. PS-Tech High accuracy tracking using a stereo camera based setup In combination with inertial sensor based tracking

  6. 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. 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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