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HSD

Hochschule Düsseldorf
University of Applied Sciences


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Faculty of Media

Labor für Virtuelles Studio / Virtuelle Realität



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Abstract: A hybrid tracking method for locating trusses in event technology [DE]

Benedikt Rippers, A hybrid tracking method for locating trusses in event technology, Hochschule Düsseldorf, Bachelor thesis, 26.04.2023.

For today’s event and especially lighting technology, the tracking of lighting fixtures and object positions is becoming more and more relevant. Since many events, talking about ligh- ting technology, are planned, simulated and programmed in three-dimensional space, it is necessary to determine the exact position of the individual light sources. Due to the fixed connection to the truss, the position of lighting fixtures can be determined by locating the truss. In most cases, set-up and break-down times are very short, which is why the systems for determining positions must be as quick and easy to set up as possible. Due to this, complex tracking procedures with, for example, many markers or cameras, are often not feasible. Especially for locating trusses above the stage, there are no specialised systems that are used in event technology. The aim of this bachelor thesis is to investigate whether a tracking system for trusses, using a hybrid method consisting of an Inertial Measurement Unit (IMU) and a laser ranging sensor, is suitable to enable continuous illumination of certain stage points. For this purpose, a literature research on the two basic methods of inertial and laser tracking is conducted. Furthermore, the classical Kalman filter, the quaternion number system, the PosiStageNet transmission protocol and current tracking systems in event technology will be discussed. Based on this, a hybrid tracking system with the “BNO055” IMU from Bosch Sensortec and the “U81” laser distance sensor from Chengdu JRT Meter Technology Co, Ltd will be developed, implemented and tested. A classical Kalman filter and a ZUPT algorithm are used to determine the position. The tracker has two operating modes: “Initialisation” and “Tracker”. Initialisation mode allows the IMU to be calibrated and the system to be set up quickly. Tracker mode allows live tracking. Tracking data are transmitted via an ESP mesh network. The PSN server is implemented as a Windows application. An evaluation of the truss tracker is done considering system requirements defined at the beginning of this study. This bachelor thesis shows that it is possible to track a truss with the hybrid system presented. However, the position deviation in the initialisation mode is so great that it can‘t be used for the simplified setup. Due to the necessary manual position measurements, the installation effort is thus higher than expected. The requirements for positional and rotational accuracy in tracker mode cannot be met under all conditions. Regardless of this, however, illumination of target points on the stage is possible in the short and long term.

Keywords:

truss tracking, hybrid tracking, inertial tracking, laser ranging, position determination, orientation determination, event technology, lighting technology

Supervisor:

Prof. Jens Herder, Dr. Eng./Univ. of Tsukuba
Prof. Dr. Ing. Günther Witte

Location:

The research took place at the Light Laboratory of the HSD.

 

 

VirtuellesStudio

HSD FB 5 VSVR

21.08.2024

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