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G. Retscher, U. Mitterbauer:
"Kinematic Trajectory Determination for Construction Machines";
Poster: International Conference on Optical 3-D Measurement Techniques VII, Vienna, Austria; 2005-10-03 - 2005-10-05; in: "Proceedings Optical 3-D Measurement Techniques VII, Vol. II", A. Grün, H. Kahmen (ed.); (2005), ISBN: 3-9501492-2-8; 376 - 382.

Different construction machines are employed in the construction of roads. On the one hand they are used for modeling of the earth surface and on the other hand for road surfacing and pavement. For the orientation and the establishment of the height reference of the machine, pins and reference wires for setting out of the alignment on the site are commonly used. Using an automatic steering in most cases there is no need for time consuming and costly setting out of pins, because the position and the orientation of the machine can be determined by the use of different sensors. All relevant coordinate systems used in the steering of construction machines will be briefly described in this paper. Based on an analysis of existing steering systems it is possible to develop a systematic for the steering of the different machines. Sensors, which are used in these systems are GPS, robotic total stations for the determination of position and orientation, rotation lasers and height detectors for a precise establishment of the height and other supporting sensors, such as inclinometers and orientation sensors, which offer additional information about the machine condition. The evaluation of the observations of all sensors is performed using a Kalman filter since this filter is particularly suited for real-time evaluation. Different models of machine movements will be analysed and extended. Straight and circular movement in different kinematic conditions are distinguished. These extended algorithms can enable a more precise position and orientation determination of the construction machines.

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