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Entwicklung und Implementierung einer Methodik für die Erfassung von Sensor- und Referenzdaten sowie deren Anwendung zur Latenzmessung

Opfermann, Thorben (2015) Entwicklung und Implementierung einer Methodik für die Erfassung von Sensor- und Referenzdaten sowie deren Anwendung zur Latenzmessung. Master's, Universität Bremen.

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Abstract

The TRON–Laboratory of the German Aerospace Center in Bremen is a testbed for optical navigation sensors. Using a robot, they can be moved over the surface of milled structures to simulate the motion relative to a target object, for example the moon. A Laser Tracker system targets specific reflectors to determine the attitude and position of the sensor. To provide these reference data with high accuracy while moving the sensor, it is necessary to synchronize the points of time of the data acquisition. Therefore, the focus of this work is the latency measurement and synchronization of the Laser Tracker and a common industrial camera. The approach is based on a publication from Anthony Steed [9] and utilizes a pendulum oszillation which can be described by a sine curve. This happens for the camera data as well as for the Laser Tracker data. The latency can be determined by calculating the phase shift of those two curves, which then allows to modify the trigger setup to delay the measurement of one device. Hence, the delay between the data acquisition of Laser Tracker and camera can be minimized. Further latency measurements indicate a remaining latency of approximately 7 μs.

Item URL in elib:https://elib.dlr.de/98569/
Document Type:Thesis (Master's)
Title:Entwicklung und Implementierung einer Methodik für die Erfassung von Sensor- und Referenzdaten sowie deren Anwendung zur Latenzmessung
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Opfermann, ThorbenUniversität BremenUNSPECIFIED
Date:23 July 2015
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:TRON, Latency determination, camera sensor, laser tracker, dSPACE
Institution:Universität Bremen
Department:Produktionstechnik -Maschinenbau & Verfahrenstechnik
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Projekt ATON
Location: Bremen
Institutes and Institutions:Institute of Space Systems > Navigation and Control Systems
Deposited By: Krüger, Hans
Deposited On:22 Oct 2015 10:45
Last Modified:22 Oct 2015 10:45

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