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Reliable Navigation Underground

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Presentation on theme: "Reliable Navigation Underground"— Presentation transcript:

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 IAS - Scientists Meet Scientists

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

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

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

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

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

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 IAS - Scientists Meet Scientists

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

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

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

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

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

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

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

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

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

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

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. IAS - Scientists Meet Scientists

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

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

22 Thank you and Halt Maß!


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