1. 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

2. IAS - Scientists Meet Scientists
20 cm = my two hands
Breakthrough accuracy requirement (1σ)
across-track: 1 cm / 1 km driving distance
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3. Very long tunnels in “short” time
Source: AlpTransit Gotthard AG
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4. Intermediate attack – 800 m down
Source: Bräker & Ebneter, 1997
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5. Coordinate transfer (1) – mechanical multi-weight plumbing
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Source: AlpTransit Gotthard AG

6. Coordinate transfer (2) – optical nadir plumbing
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Source: Schätti & Ryf, 2004

7. Intermediate attack – orientation ?
Source: Bräker & Ebneter, 1997
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8. 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
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9. Idea: inertial azimuth transfer is possible (in principle)
AVN 1990
K. P. Schwarz & N. El-Sheimy 2001:
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10. Vertcal azimuth transfer by IMU in mine cage – orientation control
Source: Neuhierl, 2005
Source: Der Spiegel
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11. IMU – inertial measurement unit: 6 DOF autosensing
Double integration of acceleration measurements
Single integration of laser gyro rotation measurements
Source: Honeywell
Source: unknown
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12. Imar IMU of TUM Focus Area Geodesy
Source: Chair of Geodesy
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13. Systematic errors & mitigation concepts
Biases
Drifts
ZUPTs
CUPTs
two faces
forward and reverse
short transfer time
Source: Ferranti
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14. Autocollimation: an approved technique of engineering surveying
Source: Wild - Heerbrugg
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15. Tunnel logistics afford 1 year preparation minute training!!!
Source: Olympia-park München GmbH
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Source: Chair of Geodesy

16. Tunnel logistics afford 1 year preparation minute training!!!
Source: Olympia-park München GmbH
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17. On site Sedrun (1): six times down and up with 16 m/s
Source: Chair of Geodesy
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18. On site Sedrun (2): six times down and up with 16 m/s
Source: Chair of Geodesy
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19. 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.
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20. The breaktrough across track error Sedrun-Faido was only 15 cm !
Source: dpa Martin Ruetschi
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21. Next challenge: the Fröschnitzgraben shafts (400 m) of SBT
Source: ÖBB
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22. Thank you and Halt Maß!