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UWB RTLS for Construction Equipment Localization: Experimental Performance Analysis and Fusion with Video Data

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UWB RTLS for Construction Equipment Localization: Experimental Performance Analysis and Fusion with Video Data UWB RTLS for Construction Equipment Localization: Experimental Performance Analysis and Fusion with Video Data Hassaan Siddiqui A Thesis in Concordia Institute for Information Systems Engineering Presented in Partial Fulfillment of the Requirements for the Degree of Master of Applied Science (Quality Systems Engineering) at Concordia University Montreal, Quebec, Canada September 2014 © Hassaan Siddiqui CONCORDIA UNIVERSITY School of Graduate Studies This is to certify that the thesis prepared By: Hassaan Siddiqui Entitled: UWB RTLS for Construction Equipment Localization: Experimental Performance Analysis and Fusion with Video Data and submitted in partial fulfillment of the requirement for the degree of Master of Applied Science (Quality Systems Engineering) complies with the regulations of the University and meets with the accepted standards with respect to originality and quality. Signed by the final examining committee: Dr. M. Mannan Chair Dr. N. Bouguila CIISE Examiner Dr. A. Bagchi External Examiner (BCEE) Dr. Amin Hammad Supervisor Approved by Chair of Department or Graduate Program Director m Dean of Faculty ABSTRACT UWB RTLS for Construction Equipment Localization: Experimental Performance Analysis and Fusion with Video Data Hassaan Siddiqui Construction sites are well known for their dynamic and challenging nature. Several researchers are investigating the application of various Real-time Location Systems (RTLSs) for improving the safety and productivity of construction projects. When integrated with real-time data analysis systems, RTLS can contribute to make the construction environment smarter and safer by identifying safety hazards and inefficient resource configurations. Previous research shows that the Ultra-Wideband (UWB) technology, an emerging type of RTLS, is suitable for the identification and tracking of construction resources. However, a thorough study to evaluate the impact of the factors that affect the performance of the UWB RTLS in construction projects is still required. This research investigates the performance of UWB RTLSs in indoor and outdoor environments along with the evaluation of the factors which affect their performance. Moreover, the harsh environment of construction sites and the complex nature of construction projects provide numerous challenges for an individual technology to deliver accurate information in a timely manner. Therefore, this research also proposes a Multi-Sensor Data Fusion (MSDF) approach which leverages the benefits of video recording and image processing as a complimentary data source. It was found that the UWB RTLS is an effective tool to monitor construction resources; however, some of the UWB data can be missing or erroneous and the quality of the data can be improved by applying a suitable data enhancement method to accurately localize construction equipment. Furthermore, it was noted that the MSDF approach has the potential to better localize construction equipment by overcoming the limitations of UWB RTLS. iii ACNOWLEDGEMENT First and foremost, I would like to express my sincere gratitude to my supervisor, Dr. Amin Hammad for his intellectual support, encouragement and patience. His advice and criticism was my most valuable asset during my studies. The joy and enthusiasm he has for his research was contagious and motivational for me, even during tough times of this pursuit. Besides my supervisor, I would like to thank Mr. Faridaddin Vahdatikhaki for his valued assistance in performing the tests and processing the test data. I am also very thankful to Mr. Mohammad Soltani for his appreciated support in the implementation of image processing. I would also like to thank Mr. Pierre Vilgrain from PCL Constructors Westcoast Inc. for his support in the realization of the outdoor test. In addition, the support from all of the research group members was very invaluable. My sincere thanks also go to Ms. Mahsa Rafiee, Mr. Shayan Setayeshgar and Mr. Ali Motamedi for their help in various aspects of this research. I dedicate this thesis to my wife, my parents and my brothers for their endless encouragement which is the essence of this accomplishment. iv TABLE OF CONTENTS List of Figures ............................................................................................................................... vii List of Tables ................................................................................................................................. xi List of Abbreviations ................................................................................................................... xiii CHAPTER 1 INTRODUCTION ................................................................................................. 1 1.1 General Review ................................................................................................................ 1 1.2 Research Objectives ......................................................................................................... 2 1.3 Thesis Organization.......................................................................................................... 2 CHAPTER 2 ITERATURE REVIEW ........................................................................................ 4 2.1 Introduction ...................................................................................................................... 4 2.2 Ultra-Wideband Real-Time Location System .................................................................. 4 2.3 Applications of UWB RTLS in Construction Management ............................................ 7 2.4 Data Enhancement Methods........................................................................................... 18 2.4.1 Simplified Correction Method ................................................................................ 19 2.4.2 Optimization-based Method.................................................................................... 20 2.5 Data Fusion .................................................................................................................... 22 2.6 Multi-Sensor Data Fusion .............................................................................................. 24 2.6.1 Techniques used for Multi-Sensor Data Fusion...................................................... 26 2.7 Applications of Multi-Sensor Data Fusion..................................................................... 29 2.7.1 Applications in Construction Management ............................................................ 29 2.7.2 Other MSDF Positioning Applications ................................................................... 31 2.8 Summary ........................................................................................................................ 32 CHAPTER 3 EXPERIMENTAL PERFORMANCE ANALYSIS OF UWB RTLS ................ 33 3.1 Introduction .................................................................................................................... 33 v 3.2 Factors affecting the UWB System’s Performance........................................................ 33 3.3 Experimental Work ........................................................................................................ 37 3.3.1 Indoor Dynamic Tests ............................................................................................. 38 3.3.2 Outdoor Dynamic Tests .......................................................................................... 55 3.4 Summary, Conclusions and Recommendations ............................................................. 87 CHAPTER 4 FUSING UWB AND VIDEO DATA FOR CONSTRUCTION EQUIPMENT LOCALIZATION ......................................................................................................................... 89 4.1 Introduction .................................................................................................................... 89 4.2 Comparison of UWB and Video Technologies for Construction Projects .................... 89 4.3 Proposed Approach ........................................................................................................ 91 4.3.1 Hardware Components............................................................................................ 91 4.3.2 Software Components ............................................................................................. 92 4.4 Implementation and Case Study ..................................................................................... 96 4.4.1 Design of Experiment ............................................................................................. 96 4.4.2 Implementation ....................................................................................................... 98 4.4.3 Analysis................................................................................................................. 109 4.5 Summary and Conclusions ........................................................................................... 117 CHAPTER 5 CONCLUSIONS AND FUTURE WORK ....................................................... 119 5.1 Summary of Research .................................................................................................. 119 5.2 Research Contributions and Conclusions ..................................................................... 120 5.3 Limitations and Future Work ....................................................................................... 121 REFERENCES ..........................................................................................................................
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