Zusammenfassung
Summary
For several years, the Institute of Engineering Geodesy, University of Stuttgart has been operating a construction machine simulator to evaluate the performance of different sensors as well as filter and control algorithms under laboratory conditions. For this purpose a model truck (scale 1:14) is guided on a pre-defined reference trajectory as acurately as possible. The lateral control is realized using a PID controller. The root mean square value (RMS) of the lateral deviation between the driven and reference trajectory is defined as quality criterion. Under laboratory conditions, the simulator achieves RMS values of 2 to 4 mm. These values contain the measurement accuracy and the control quality. An external measurement system, the API Radian laser tracker, in combination with an active target allows to split up the two quantities. Thus the control quality can be evaluated individually. The investigations have shown that the measurements conducted by the laser tracker verify the former achieved RMS values. A control quality of 3.1 mm and a measurement accuracy of 2.9 mm could be stated.