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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.
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