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In Line-less Mobile Assembly Systems, the mobilization of assembly resources and products enables rapid physical system reconfigurations to increase flexibility and adaptability. The clean floor approach discards fixed anchor points, so that assembly resources such as mobile robots and automated guided vehicles transporting products can adapt to new products and form new processes. Associated challenges are accurate spatial referencing between mobile resources to meet assembly tolerance requirements. There is a need for more accurate positioning data to locate and navigate mobile assembly resources. An indoor-GPS, as a distributed large-scale metrology system, is able to cover a wide shop floor area and to obtain positioning data with uncertainties in the submillimeter range. The measurement uncertainty of such a system depends on the spatial distribution of the transmitters and the receiver positions. To be able to validate positioning tolerance requirements of an assembly process, measurement uncertainties must be determined. Virtual measurements simulate measurement processes and model dependencies between the environment and the metrology system. This work presents a novel approach for a virtual indoor-GPS to determine measurement uncertainties during a process and to evaluate the measurement process capability. Experiments show the validity of the virtual indoor-GPS which can be used as a planning tool for metrology system setups within Line-less Mobile Assembly Systems.

Virtual indoor-GPS for measurement uncertainty determination in reconfigurable environments