Reliable Navigation Underground Prof. Dr.-Ing. habil. Thomas A. WUNDERLICH Technical University of Munich Faculty of Civil, Geo and Environmental Engineering Chair of Geodesy Institute for Advanced Study, October 19, 2016

IAS - Scientists Meet Scientists 20 cm = my two hands Breakthrough accuracy requirement (1σ) across-track: 1 cm / 1 km driving distance 19.10.2016 IAS - Scientists Meet Scientists

Very long tunnels in “short” time Source: AlpTransit Gotthard AG 19.10.2016 IAS - Scientists Meet Scientists

Intermediate attack – 800 m down Source: Bräker & Ebneter, 1997 19.10.2016 IAS - Scientists Meet Scientists

Coordinate transfer (1) – mechanical multi-weight plumbing 19.10.2016 IAS - Scientists Meet Scientists Source: AlpTransit Gotthard AG

Coordinate transfer (2) – optical nadir plumbing 19.10.2016 IAS - Scientists Meet Scientists Source: Schätti & Ryf, 2004

Intermediate attack – orientation ? Source: Bräker & Ebneter, 1997 19.10.2016 IAS - Scientists Meet Scientists

Orientation determination by gyroscopes we can use world‘s best gyro technology (by DMT) but lack of precise knowledge of deflections from the vertical and exceeded calibration limits because of high temperature calls for independent confirmation Develoment of a new method at the TUM in cooperation with ETH and AlpTransit Source: DMT GmbH & Co. KG 19.10.2016 IAS - Scientists Meet Scientists

Idea: inertial azimuth transfer is possible (in principle) AVN 1990 K. P. Schwarz & N. El-Sheimy 2001: 19.10.2016 IAS - Scientists Meet Scientists

Vertcal azimuth transfer by IMU in mine cage – orientation control Source: Neuhierl, 2005 Source: Der Spiegel 19.10.2016 IAS - Scientists Meet Scientists

IMU – inertial measurement unit: 6 DOF autosensing Double integration of acceleration measurements Single integration of laser gyro rotation measurements Source: Honeywell Source: unknown 19.10.2016 IAS - Scientists Meet Scientists

Imar IMU of TUM Focus Area Geodesy Source: Chair of Geodesy 19.10.2016 IAS - Scientists Meet Scientists

Systematic errors & mitigation concepts Biases Drifts ZUPTs CUPTs two faces forward and reverse short transfer time Source: Ferranti 19.10.2016 IAS - Scientists Meet Scientists

Autocollimation: an approved technique of engineering surveying Source: Wild - Heerbrugg 19.10.2016 IAS - Scientists Meet Scientists

Tunnel logistics afford 1 year preparation minute training!!! Source: Olympia-park München GmbH 19.10.2016 IAS - Scientists Meet Scientists Source: Chair of Geodesy

Tunnel logistics afford 1 year preparation minute training!!! Source: Olympia-park München GmbH 19.10.2016 IAS - Scientists Meet Scientists

On site Sedrun (1): six times down and up with 16 m/s Source: Chair of Geodesy 19.10.2016 IAS - Scientists Meet Scientists

On site Sedrun (2): six times down and up with 16 m/s Source: Chair of Geodesy 19.10.2016 IAS - Scientists Meet Scientists

Campaign results and conclusions the weighted azimuth mean of the independent campaigns in April 2004 and January 2005 confirmed the gyro results (Δ = 2,2 mgon). the weighted azimuth mean‘s r.m.s. was ± 1,5 mgon (2,4 cm/km)! the most important preconditions for success are short transfer times (1 min) along forward and reverse tracks. The method is not set to replace gyro measurements, but only to deliver an independent control for extreme tunneling scenarios as the vertical intermediate attacks at the present St.Gotthard Base Tunnel and the Semmering Base Tunnel (2017) under construction. 19.10.2016 IAS - Scientists Meet Scientists

The breaktrough across track error Sedrun-Faido was only 15 cm ! Source: dpa Martin Ruetschi 19.10.2016 IAS - Scientists Meet Scientists

Next challenge: the Fröschnitzgraben shafts (400 m) of SBT Source: ÖBB 19.10.2016 IAS - Scientists Meet Scientists

Thank you and Halt Maß!