Home // SENSORDEVICES 2013, The Fourth International Conference on Sensor Device Technologies and Applications // View article

The Development of a Geo-Referenced System for Machine Controlled Construction Equipment

Authors:
Nicholas Muth
Mike Chapman

Keywords: Geosensor networks;Tracking moving objects; Application of geosensor networks;Localization and tracking using satellites;Movement sensors;Position sensors

Abstract:
This article outlines the motivation and methodology for a reliable, stand-alone, real-time, geo-referencing system for construction equipment. The system consists of a fully integrated Differential Global Positioning System (DGPS)/Inertial Navigation System (INS) Kalman Filter to geo-reference the main body of the construction equipment. Inertial Measurement Units (IMU) attached to each operational joint will provide joint angle information between each link. The IMU information is used in the Denavit-Hartenberg Convention (DH), describing the position of the end-effector in 3D space with respect to the geo-referenced main body of the equipment. There are distinct advantages to this type of approach. It is a more complicated, yet cost-effective, system because lower grade IMUs can be made to perform as more stable IMUs by constant re-calibration using DGPS measurements in a tightly coupled Kalman Filter. It is an autonomous system, unaided by line-of-sight survey based equipment. Finally, it creates a unified model approach for geo-referencing multi-sensor systems that can be applied without accounting for a different set of parameters for each sensor. Preliminary results of a decomposed Kalman Filter to estimate DGPS baselines show a Root Mean Square Error (RMSE) of ±0.003m for variation in successive baseline estimations of stationary receivers.

Pages: 80 to 84

Copyright: Copyright (c) IARIA, 2013

Publication date: August 25, 2013

Published in: conference

ISSN: 2308-3514

ISBN: 978-1-61208-297-4

Location: Barcelona, Spain

Dates: from August 25, 2013 to August 31, 2013