Accurate Range Measurements Research Articles

Monitoring JUICE deployment operations with high-accuracy accelerometer data

The Jupiter Icy Moons Explorer (JUICE) mission is a cornerstone of ESA's Cosmic Vision 2015–2025 program devoted to the scientific exploration of Jupiter and its icy moons. Launched on April 14, 2023, from French Guiana, JUICE will perform multiple gravity assists, including an unprecedented lunar-Earth double gravity assist, in order to shape its trajectory to Jupiter, where it will arrive in July 2031. Thanks to a suite of 10 scientific instruments, JUICE will carry out a comprehensive investigation of the jovian system, with special focus on Ganymede. Among these experiments is the Gravity and Geophysics of Jupiter and the Galilean Moons (3GM) radio science and planetary geodesy experiment, supported by the onboard High Accuracy Accelerometer (HAA). The HAA, a three-axis spring mass accelerometer, measures the non-gravitational perturbations acting on the spacecraft, that need to be measured in order to fully exploit the highly accurate range and range rate measurements of 3GM. This paper analyzes the HAA data collected in the very early phase of the mission, to monitor the initial deployment of the spacecraft's moving appendages. The vibration modes of the magnetometer boom and solar arrays were clearly detected during the appendages' deployment, as well as the latching of the Langmuir probe hinges. The detected resonance frequencies of the first and second magnetometer boom bending modes are equal to 0.44 and 0.46 Hz, respectively. The HAA data contributed to identifying the root-cause of the anomalous Radar for Icy Moon Exploration (RIME) antenna deployment. The strong external perturbations due to the actuators' activation have been used to characterize the spacecraft tranquillization time. Despite the significant increase in the spacecraft noise floor during deployment events, the full sensitivity of the instrument was regained within 10 min. This information can be used to plan the spacecraft operations during the scientific phase of the mission.

Compact Chromatic Confocal Lens with Large Measurement Range.

Spectral confocal sensors are effective for measuring displacements. The core of the spectral confocal measurement system is a dispersive objective lens that uses optical dispersion to establish a one-to-one correspondence between the focusing position and wavelength, achieving high-resolution measurements in the longitudinal direction. Despite significant progress in dispersive objective lenses for spectral confocal sensor systems, challenges such as a limited dispersion range, high cost, and insufficient measurement accuracy persist. To expand the measurement range and improve the accuracy of the spectral confocal sensor, we designed a compact, long-axial dispersion objective lens. This lens has a simple structure that requires only six lens elements, two of which form cemented doublets. The system length is 58 mm, with a working distance of 46 ± 6 mm and a dispersion range of 12 mm within the wavelength range of 450-656 nm. The lens has an object-side numerical aperture (NA) of 0.22 and an image-side NA between 0.198 and 0.24, ensuring high light energy utilization. Finally, a spectral confocal measurement system was constructed based on the designed dispersive objective lens, and performance evaluation tests were conducted. The test results showed that the system achieved a resolution of 0.15 μm and a maximum linear error of ±0.7 μm, demonstrating high-precision measurement capabilities. The proposed lens design enables the development of more portable and cost-effective spectral confocal sensors.

Investigation of intra-fractionated range guided adaptive proton therapy (RGAPT): II. Range-shift compensated on-line treatment adaptation and verification

We previously proposed range-guided adaptive proton therapy (RGAPT) that uses mid-range treatment beams as probing beams and intra-fractionated range measurements for online adaptation. In this work, we demonstrated experimental verification and reported the dosimetric accuracy for RGAPT. A STEEV phantom was used for the experiments, and a 3 × 3 × 3 cm3 cube inside the phantom was assigned to be the treatment target. We simulated three online range shift scenarios: reference, overshoot, and undershoot, by placing upstream Lucite sheets, 4, 0, and 8 that corresponded to changes of 0, 6.8, and −6.8 mm, respectively, in water-equivalent path length. The reference treatment plan was to deliver single-field uniform target doses in pencil beam scanning mode and generated on the Eclipse treatment planning system. Different numbers of mid-range layers, including single, three, and five layers, were selected as probing beams to evaluate beam range (BR) measurement accuracy in positron emission tomography (PET). Online plans were modified to adapt to BR shifts and compensate for probing beam doses. In contrast, non-adaptive plans were also delivered and compared to adaptive plans by film measurements. The mid-range probing beams of three (5.55MU) and five layers (8.71MU) yielded accurate range shift measurements in 60 s of PET acquisition with uncertainty of 0.5 mm while the single-layer probing (1.65MU) was not sufficient for measurements. The adaptive plans achieved an average gamma (2%/2 mm) passing rate of 95%. In contrast, the non-adaptive plans only had an average passing rate of 69%. RGAPT planning and delivery are feasible and verified by the experiments. The probing beam delivery, range measurements, and adaptive planning and delivery added a small increase in treatment delivery workflow time but resulted in substantial dose improvement. The three-layer mid-range probing was most suitable considering the balance of high range measurement accuracy and the low number of probing beam layers.

Определение точности измерения дальности между подводными объектами при помощи гидроакустических модемов

В работе представлены результаты экспериментального исследования точности определения дальности между подводными объектами при помощи гидроакустических модемов uWave в условиях ледового эксперимента в мелком водоёме. Проведены две независимые проверки: определение фактической скорости звука на основе относительных измерений, и определение дальностей на основе скорости звука, вычисленной по измерению температуры встроенными в модемы датчиками. Общий размер выборки составляет 1260 измерений времени распространения сигнала, выполненных в 10 различных взаимных расположений двух объектов. Проведён анализ источников погрешностей, в ходе которого, в частности, выявлена линейная зависимость роста среднеквадратичного отклонения измерений времени распространения с дальностью. В качестве источника указан эффект удлинения траекторий лучей в виду нелинейности распространения звука в среде. Экспериментальная проверка точности определения времени распространения сигнала и наклонной дальности между модемами uWave показала, что среднеквадратичное отклонение имеет порядок 0.1% от дальности. The paper presents the results of an experimental study of the accuracy of measurment of the distance between underwater objects using uWave underwater acoustic modems under the conditions of an ice experiment in a shallow water body. Two independent tests were carried out: determining the actual speed of sound based on relative measurements, and determining ranges based on the speed of sound calculated from temperature measurements by sensors built into modems. The total sample size is 1260 signal propagation time measurements taken at 10 different relative positions of the two objects. An analysis of the sources of errors was carried out, during which, in particular, a linear dependence of the increase in the standard deviation of propagation time measurements with range was revealed. The source indicated is the effect of lengthening ray trajectories due to the nonlinearity of sound propagation in the medium. An experimental test of the accuracy of determining the signal propagation time and slant range between uWave modems showed that the standard deviation is on the order of 0.1% of the range.

Large-Dynamic-Range Ocular Aberration Measurement Based on Deep Learning with a Shack-Hartmann Wavefront Sensor.

The Shack-Hartmann wavefront sensor (SHWFS) is widely utilized for ocular aberration measurement. However, large ocular aberrations caused by individual differences can easily make the spot move out of the range of the corresponding sub-aperture in SHWFS, rendering the traditional centroiding method ineffective. This study applied a novel convolutional neural network (CNN) model to wavefront sensing for large dynamic ocular aberration measurement. The simulation results demonstrate that, compared to the modal method, the dynamic range of our method for main low-order aberrations in ocular system is increased by 1.86 to 43.88 times in variety. Meanwhile, the proposed method also has the best measurement accuracy, and the statistical root mean square (RMS) of the residual wavefronts is 0.0082 ± 0.0185 λ (mean ± standard deviation). The proposed method generally has a higher accuracy while having a similar or even better dynamic range as compared to traditional large-dynamic schemes. On the other hand, compared with recently developed deep learning methods, the proposed method has a much larger dynamic range and better measurement accuracy.

Anti-contamination calibration method for ultra-fine dry chemical agent: Achieving wide measurement range and high measurement accuracy

Achieving real-time measurements of ultra-fine dry chemical agents (UDCA) is extremely challenging, with their complex composition, high injection concentrations, and susceptibility to contamination. In this study, a high-concentration particulate matter measurement method was proposed based on the extinction principle to reduce the powder contamination effect during calibrations. Through theoretical analysis and experimental verification, a functional relationship was established. Calibration experiments were conducted using sodium bicarbonate (SBA) and potassium bicarbonate (PBA) UDCAs, which are the most representative. The results showed that the measurement ranges of SBA and PBA reached 227.15 g/m3 and 122.55 g/m3, respectively. Compared with the uncorrected calibration method, the maximum indicated errors of SBA and PBA with the powder contamination effect corrected were reduced from 11.25% and 22.68% to 5.98% and 9.21%. This method provides a strategy for measuring high concentration powder, especially for achieving the measurement of UDCA in aircraft engine compartments.

Assessment of the quality of determining the coordinates of air objects by cooperative radar systems for air surveillance

In the presented work, based on the classification of airspace surveillance radar systems in the form: independent non-cooperative radar surveillance, independent cooperative radar surveillance, dependent cooperative radar surveillance; the quality of determining the coordinates of air objects by the systems under study was assessed. The place and role of these information systems in the information support of airspace control and air traffic control systems is shown. From the calculations carried out, we can draw the following conclusion that the sensitivity of measuring the height of an airborne object significantly depends on the geometry of the location of receiving points of a synchronous network of radar surveillance systems. As the distance between receiving points increases, the area covered by curves of equal sensitivity increases. It is substantiated that when using equal weight in the accuracy of range measurement and in measuring the altitude of an airborne object, the accuracy of the synchronization of the time scales of the receiving points is the value achieved by modern means of time synchronization. The use of the given methodology for assessing the quality of measuring the coordinates of air objects in a synchronous network of cooperative radar surveillance systems for airspace allows us to put forward requirements for the synchronism of time scales in a unified synchronous information network of radar surveillance systems when measuring the coordinates of air objects. It is shown that the price for improving the accuracy of determining the coordinates of air objects by a synchronous network of cooperative radar systems is the complication of the system due to an increase in positions, an increase in the number of transceiver paths, the need to synchronize emission processes, receive signals and control viewing modes.

Multispectral LiDAR-based underwater ore classification using a tunable laser source

Light Detection and Ranging (LiDAR) technology has been extensively used to collect precise geometric information. However, conventional LiDAR sensors are restricted to single-wavelength operation, limiting their ability to capture valuable spectral information. Multispectral LiDAR (MSL) systems, on the other hand, have emerged as a promising solution by facilitating the active acquisition of spatial and spectral data. These advanced systems exhibit tremendous potential in facilitating advanced analysis and classification of seafloor sediments. In this study, the first demonstration of an MSL system optimized for investigating the feasibility of underwater ore classification using a tunable laser source is described. The MSL prototype features a spectral resolution of 10 nm, and 11 spectral channels, covering the range from 460 to 560 nm. Laboratory-based experiments were conducted to evaluate the accuracy of range measurements and the classification performance of the system. The spectral profiles of eight distinct ore samples acquired by the MSL were utilized for classification using four classification methods: naive Bayes (NB), k Nearest Neighbor (KNN), support vector machine (SVM), and random forest (RF). Furthermore, comparative analyses were conducted to investigate the classification enhancements realized by leveraging the MSL system with multiple spectral channels as opposed to single-wavelength and dual-wavelength systems.

High dynamic reflection surface 3D reconstruction with sharing phase demodulation mechanism and multi-indicators guided phase domain fusion.

Accurate and complete 3D measurement of complex high dynamic range (HDR) surfaces has been challenging for structured light projection technique. The behavior of spraying a layer of diffuse reflection material, which will inevitably incur additional thickness. Existing methods based on additional facilities will increase the cost of hardware system. The algorithms-based methods are cost-effective and nondestructive, but they generally require redundant patterns for image fusion and model training, which fail to be suitable for practicing automated 3D measurement for complex HDR surfaces. In this paper, a HDR surface 3D reconstruction method based on sharing demodulation phase unwrapping mechanism and multi-indicators guided phase fusion strategy is proposed. The division of the exposure interval is optimized via the image entropy to generate an optimal exposure sequence. The combination of temporal-spatial binary (TSB) encoding fringe patterns with time-integration strategy and the variable exposure mode of digital mirror device (DMD)-based projector with a minimum projection exposure time of 233μs enables the proposed approach to broadly adapt complex HDR surfaces. We propose an efficient phase analysis solution called sharing mechanism that wrapped phase sequences from captured different intensity fringe images are unwrapped through sharing the same group of misaligned Gray code (MGC) decoding result. Finally, a phase sequences fusion model guided by multi-indicators, including exposure quality, phase gradient smoothness and pixel effectiveness, is established to obtain an optimum phase map for final 3D reconstruction. Comparative experiments indicate that the proposed method can completely restore the 3D topography of HDR surfaces with the images reduction of at least 65% and the measurement integrity is maintained at over 98% while preserving the measurement accuracy and excluding the outliers.

MC-LRF based pose measurement system for shipborne aircraft automatic landing

Due to the portability and anti-interference ability, vision-based shipborne aircraft automatic landing systems have attracted the attention of researchers. In this paper, a Monocular Camera and Laser Range Finder (MC-LRF)-based pose measurement system is designed for shipborne aircraft automatic landing. First, the system represents the target ship using a set of sparse landmarks, and a two-stage model is adopted to detect landmarks on the target ship. The rough 6D pose is measured by solving a Perspective-n-Point problem. Then, once the rough pose is measured, a region-based pose refinement is used to continuously track the 6D pose in the subsequent image sequences. To address the low accuracy of monocular pose measurement in the depth direction, the designed system adopts a laser range finder to obtain an accurate range value. The measured rough pose is iteratively optimized using the accurate range measurement. Experimental results on synthetic and real images show that the system achieves robust and precise pose measurement of the target ship during automatic landing. The measurement means error is within 0.4° in rotation, and 0.2% in translation, meeting the requirements for automatic fixed-wing aircraft landing.Received 5 July 2022; revised 19 August 2022; accepted 27 September 2022.

A Method for UWB Localization Based on CNN-SVM and Hybrid Locating Algorithm

In this paper, aiming at the severe problems of UWB positioning in NLOS-interference circumstances, a complete method is proposed for NLOS/LOS classification, NLOS identification and mitigation, and a final accurate UWB coordinate solution through the integration of two machine learning algorithms and a hybrid localization algorithm, which is called the C-T-CNN-SVM algorithm. This algorithm consists of three basic processes: an LOS/NLOS signal classification method based on SVM, an NLOS signal recognition and error elimination method based on CNN, and an accurate coordinate solution based on the hybrid weighting of the Chan–Taylor method. Finally, the validity and accuracy of the C-T-CNN-SVM algorithm are proved through a comparison with traditional and state-of-the-art methods. (i) Focusing on four main prediction errors (range measurements, maxNoise, stdNoise and rangeError), the standard deviation decreases from 13.65 cm to 4.35 cm, while the mean error decreases from 3.65 cm to 0.27 cm, and the errors are practically distributed normally, demonstrating that after training a SVM for LOS/NLOS signal classification and a CNN for NLOS recognition and mitigation, the accuracy of UWB range measurements may be greatly increased. (ii) After target positioning, the proposed method can realize a one-dimensional X-axis and Y-axis accuracy within 175 mm, and a Z-axis accuracy within 200 mm; a 2D (X,Y) accuracy within 200 mm; and a 3D accuracy within 200 mm, most of which fall within (100 mm, 100 mm, 100 mm). (iii) Compared with the traditional algorithms, the proposed C-T-CNN-SVM algorithm performs better in location accuracy, cumulative error probability (CDF), and root-mean-square difference (RMSE): the 1D, 2D, and 3D accuracy of the proposed method is 2.5 times that of the traditional methods. When the location error is less than 10 cm, the CDF of the proposed algorithm only reaches a value of 0.17; when the positioning error reaches 30 cm, only the CDF of the proposed algorithm remains in an acceptable range. The RMSE of the proposed algorithm remains ideal when the distance error is greater than 30 cm. The results of this paper and the idea of a combination of machine learning methods with the classical locating algorithms for improved UWB positioning under NLOS interference could meet the growing need for wireless indoor locating and communication, which indicates the possibility for the practical deployment of such a method in the future.

Size quantification of non-spherical bubbles by ultrasound

Ultrasonic detection is an effective method to quantify bubbles in opaque liquid, and acoustic scattering model is the key in ultrasonic inversion technique. Classical scattering models are usually based on the spherical assumption, and <i>ka</i> is much less than 1. However, these conditions are not always satisfied in practical applications. In this study, a quantitative strategy of ultrasonic inversion is proposed for non-spherical bubbles and <i>ka</i> deviation assumption. A series of solution models for a spherical gas bubble is established without considering the <i>ka</i> constraint, and it is compared with the classical Medwin (<inline-formula><tex-math id="Z-20230117094142">\begin{document}$ka\ll1 $\end{document}</tex-math><alternatives><graphic xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="3-20222074_Z-20230117094142.jpg"/><graphic xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="3-20222074_Z-20230117094142.png"/></alternatives></inline-formula>) and Anderson (<i>ka </i>≈ 1) models. The difference in scattering cross section <i>σ</i><sub>bs</sub> betweem them is only at the higher order formants of scattering, so the fitted line can be used to solve the multi-valued problem between <i>σ</i><sub>bs</sub> and <i>ka</i>. For a non-spherical bubble, <i>σ</i><sub>bs</sub> is determined by the frequency domain backscattering signal, the size is characterized by the equivalent radius<i> a</i><sup>*</sup>, and the inversion is performed by fitted curve from series solution model. Ultrasonic quantitative results are examined by high-speed photography. Results show that during the bubbles rising along a zigzag path, they develop non-spherical bubbles, their scattering cross sections are measured by the frequency domain scattering signal obtained at a position of ultrasonic measurement, and the equivalent radius is inverted by the series solution fitting curve. The deviation of the result from the actual result <i>r</i><sub>0</sub> is about 1mm (relative error less than 45%) when 9≤<i>kr</i><sub>0</sub>≤35. This method can be used for implementing the acoustic inversion of non-spherical bubbles in a certain range of measurement accuracy.

Semantic segmentation of fruits on multi-sensor fused data in natural orchards

Semantic segmentation is a fundamental vision task for agricultural robots to understand the surrounding environments in natural orchards. The recent development of the LiDAR techniques enables the robot to acquire accurate range measurements of the view, which have rich geometrical information compared to the RGB images. By combining the point cloud and color, rich features on geometries and textures can be obtained. In this work, we propose a deep-learning-based segmentation method to perform accurate semantic segmentation on fused data from a LiDAR-Camera visual sensor. Two critical problems are explored and solved in this work. The first one is how to efficiently fused the texture and geometrical features from multi-sensor data. The second one is how to efficiently train the 3D segmentation network under severely imbalanced class conditions. Moreover, an implementation of 3D segmentation in orchards including LiDAR-Camera data fusion, data collection and labeling, network training, and model inference is introduced in detail. In the experiment, we comprehensively analyze the network setup when dealing with highly unstructured and noisy point clouds acquired from an apple orchard. Overall, our proposed method achieves 86.2% mIoU on the segmentation of fruits on the high-resolution point cloud (100k–200k points). The experiment results show that the proposed method can perform accurate segmentation in real orchard environments.

Measuring the Beam Energy in Proton Therapy Facilities Using ATLAS IBL Pixel Detectors

The accurate measurement of the beam range in the frame of quality assurance (QA) is a requirement for clinical use of a proton therapy machine. Conventionally used detectors mostly estimate the range by measuring the depth dose distribution of the protons. In this paper, we use pixel detectors designed for individual particle tracking in the high-radiation environment of the ATLAS experiment at LHC. The detector measures the deposited energy in the sensor for individual protons. Due to the limited dynamic energy range of the readout chip, several ways to measure the proton energy or range are examined. A staircase phantom is placed on the detector to perform an energy calibration relative to the NIST PSTAR stopping power database. In addition, track length measurements are performed using the detector aligned parallel with the beam axis to investigate the Linear Energy Transfer (LET) per pixel along the trajectory of individual protons. In this proof-of-principle study, we show that this radiation hardness detector can successfully be used to determine the initial proton energy for protons impinging on the sensor with an energy below 44 MeV after the range shifters. It becomes clear that an improvement of the energy resolution of the readout chip is required for clinical use.

Simulation and accuracy analysis of orbit determination for TianQin using SLR data

TianQin project is a space gravitational wave detection project initiated by Sun Yat-sen University. It has high requirements for detectors’ orbit accuracy in the stages of orbit entry and scientific experiment operation. We obtain the different combinations of radial position errors and along-track velocity errors after analyzing the detectors orbit errors according to the stability requirements of TianQin constellation. Satellite laser ranging (SLR) is the space geodetic technique with the highest accuracy of range measurement, which is a commonly used method for satellite orbit determination. This paper uses solely simulated SLR data to determinate the precise orbit of TianQin detectors. We examine how the number of stations, the distribution of stations, and the measurement errors affect the SLR-only orbit determination accuracy. The results demonstrate that: (a) for the 7 days solution with 1 cm random errors and 0.5 cm systematic errors of SLR simulations, the average orbit determination accuracy of TianQin detectors is increasing from 27.37 m when using 5 Chinese stations to 9.34 m when using 6 Chinese stations. (b) The orbit determination accuracy can be significantly improved by optimizing the distribution of stations, which is increasing from 9.34 m for regional distribution to 1.75 m for global distribution when the number of stations is six. (c) When employing 6 Chinese stations, each 1 cm of random errors results in a deterioration in position accuracy by 19% and in velocity accuracy by 23%, each 1 cm of systematic errors affects 14% for position accuracy and 15% for velocity accuracy, respectively. While the impact of measurement errors on the orbit determination accuracy is aggravated when using 6 global distribution stations, which are 35% and 33% of 1 cm random errors and 17% and 20% of 1 cm systematic errors, respectively.

Dielectric frequency filtering lens antennas for radar measurements at 240 GHz

AbstractModern radar sensors are gaining more and more relevance for several industrial measurement applications. To achieve the required range resolution and measurement accuracy, the use of higher frequencies beyond 100 GHz is beneficiary. A commonly used signal generation concept in fully integrated radar transceivers is to use a fundamental oscillator with subsequent frequency multiplication. Depending on the overall system concept, this type of signal generation suffers from a fundamental feed-through signal which generates false targets in frequency modulated continuous wave operation. Additionally, those unwanted signal components radiated by the sensors might be problematic for legal conformity or electromagnetic (EM) interference compliance. This paper presents a novel concept for frequency filtering dielectric lens antennas, to suppress unwanted signal components at harmonic frequencies based on interference filtering effects. Besides the EM simulations to theoretically prove this concept, multiple prototypes of filtering lens antennas were fabricated by conventional mechanical and additive manufacturing. Using a self-developed, ultra-compact radar sensor, measurements were taken to compare the lens antenna prototypes in terms of filtering performance and how the material characteristics affect the filtering performance. Within these measurements, the successful suppression of false targets caused by fundamental feed-through signals is demonstrated.

Callisto and Europa Gravity Measurements from JUICE 3GM Experiment Simulation

The JUpiter Icy Moons Explorer is an ESA mission set for launch in 2023 April and arrival in the Jovian system in 2031 July to investigate Jupiter and its icy satellites with a suite of 10 instruments. The mission will execute several flybys of the icy moons Europa, Callisto, and Ganymede before ending the mission with a 9-month orbit around Ganymede. The 3GM experiment on board the spacecraft will exploit accurate range and Doppler (range-rate) measurements to determine the moons’ orbit, gravity field, and tidal deformation. The focus of this paper is on the retrieval of Europa’s and Callisto’s gravity field, without delving into the modeling of their interior structures. By means of a covariance analysis of the data acquired during flybys, we assess the expected results from the 3GM gravity experiment. We find that the two Europa flybys will provide a determination of the J 2 and C 22 quadrupole gravity field coefficients with an accuracy of 3.8 × 10−6 and 5.1 × 10−7, respectively. The 21 Callisto flybys will provide a determination of the global gravity field to approximately degree and order 7, the moon ephemerides, and the time-variable component of the gravitational tide raised by Jupiter on the moon. The k 2 Love number, describing the Callisto tidal response at its orbital period, can be determined with an uncertainty σ k2 ∼ 0.06, allowing us to distinguish with good confidence between a moon with or without an internal ocean. The constraints derived by 3GM gravity measurements can then be used to develop interior models of the moon.

An integrated RFID–UWB method for indoor localization of materials in construction

A considerable body of literature exists on automated object localization and tracking of construction operations. While GPS-based solutions have been widely investigated in many studies for outdoor tracking of these operations, indoor tracking proved to be more challenging. This paper focuses on indoor material localization and investigates the use of two remote sensing technologies—ultra-wideband and radio frequency identification—and the integrated use of these technologies to leverage the benefits of each for a cost-effective and practical solution for location identification of materials on site. The developed method is based on an experimental study conducted in two phases. In the first phase, experiments are designed and performed to evaluate the accuracy of ultra-wideband for localization, as well as to determine the optimal output power for a hand-held radio frequency identification reader. The optimal power is identified by evaluating the range measurement accuracy and maximum reading range of the hand-held radio frequency identification reader. In the second phase, the integrated use of radio frequency identification device and ultra-wideband for object localization is studied, and an improved trilateration technique is developed. The results of the experiments show an absolute error of 0.52 m and 1.15 m for 2D and 3D localization, respectively. Accordingly, the integration of these two technologies eliminates the need for using a large number of radio frequency identification reference tags on site for indoor material localization. The method is expected to enhance automated material tracking on construction sites by improving the localization accuracy and providing a straightforward data acquisition protocol. The analysis of experimental data captured in a lab setting is also presented, demonstrating the advantages of the proposed method.

Towards a Multi-Perspective Time of Flight Laser Ranging Device Based on Mirrors and Prisms

This paper investigates the feasibility of redirecting the field of view (FOV) of a light-based time-of-flight (ToF) ranging device, commonly known as a pulsed lidar, using fixed mirrors and prisms for possible future use in robotics. The emphasis is on configurations where the FOV redirection element is positioned beyond the ranging device’s dead zone. A custom made direct ToF ranging device with time-over-threshold (TOT)-based walk error compensation was used to evaluate the effects of the FOV redirecting optics on range measurement accuracy and precision. The tests include redirecting the FOV with a clean prism with anti-reflective (AR) coating on its legs, as well as with a regular and a first surface mirror in both a clean and dusted state. The study finds the prism to be unsuitable due to parasitic reflections, which ruin the ranging data. The clean mirrors were found to have no noticeable effect on ranging accuracy. When they are dusty, mirrors introduce a negative measurement error. This effect is the most pronounced when a mirror is positioned toward the end of the partial dead zone of the ToF rangefinder, but loses influence as the mirror is moved farther away. The error is attributed to the parasitic reflection off dust on the mirror, which reduces the time of detection of the pulse reflected off the real target, and interferes with the walk error compensation by widening the detected pulse.

Modeling the factors that determine the accuracy of the range measuring using active-pulse television measuring systems

The article describes the operation principles of the active-pulse television measuring system and the method of measuring the range by using it. The results of modeling and the effect of control impulse jitter and photodetector noise on the range measurement accuracy are presented. Based on the simulation results, the dependence of the range measurement error on the value of the jitter of the control pulses and the noise of the photodetector was established. A decrease in the accuracy of measuring the range with an increase in the jitter values of the control pulses and the noise of the photodetector was established.