Assembly task verification system and method

A method for verifying completion of a task, said method comprising:

• obtaining location coordinates of at least one location sensor within a work cell, utilizing an indoor global position system to provide three-dimension coordinates of the at least one location sensor,
• wherein the at least one location sensor is affixed to a tool used to operate on a feature of a structure to be assembled;
• generating a virtual object locus based on the location coordinates of the at least one location sensor upon generation of an event signal by the tool that indicates completion of a task by the tool,
• the virtual object locus corresponding to a computerized schematic of the structure to be assembled and representative of all possible locations of an object end of the tool within the work cell;
• generating a plurality of lines of action vectors extending through the object end of the tool;
• identifying one of a plurality of candidate features as the most likely to be the feature operated on by the tool based by using the virtual object locus and the plurality of lines of action vectors in performing a probability calculation for each one of the candidate features that each said candidate feature is the feature operated on by the tool;
• identifying a specific candidate feature, out of a plurality of candidate features, as a most likely one of the plurality of candidate features operated on by the tool, by performing a probability calculation that includes comparing each candidate feature with each virtual object locus point and angle line of action vector of the virtual locus, to obtain a distance and angle of the each candidate feature to each point in the virtual object locus, wherein the distance and angle are used to determine the probability of the object end of the tool and orientation that matches each candidate feature;
• and designating a given one of the candidate features as the specific candidate feature that has a highest probability value of all of the plurality of candidate features above a predetermined probability threshold as the most likely one of the plurality of candidate features operated on by the tool at the time the event was generated.