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Trajectory tracking of an oscillating movement with a low-cost IMU in geodetic surveying applicationsŠtebe, Gašper ...In this paper, we design a method to use a low-cost IMU (Inertial Measurement Unit) sensor for the absolute positioning of an oscillating object and for improvement of the kinematic RTS (Robotic ... Total Station) high- precision trajectory tracking accuracy. Typically when using standard methods for position estimation based on IMU measurements, a drift of several hundred meters occurres after only 1 min of operation. When processing IMU measurements with our proposed method, which is based on the Zero-Phase filter (ZPF), the accuracy of the oscillating object%s position improved to a few centimeters. We used our method to improve the RTS trajectory tracking system. By combining low-cost IMU and RTS measurements, we were able to obtain highly accurate trajectory at a frequency of IMU measurements. We improved the accuracy of the trajectory tracking compared to linear interpolation between measured RTS samples by 40% and the SNR (Signal-to-Noise Ratio) was more than three times higher.Source: Measurement : journal of the International Measurement Confederation. - ISSN 0263-2241 (Vol. 176, maj 2021, str. 1-16)Type of material - article, component partPublish date - 2021Language - englishCOBISS.SI-ID - 59228675
Author
Štebe, Gašper |
Krapež, Peter, 1993- |
Podobnik, Janez, 1980- |
Kogoj, Dušan
Topics
low-cost |
low-cost IMU |
IMU calibration |
3D trajectory |
tracking |
kinematic measurements |
zero phase |
filter Kalman
source: Measurement : journal of the International Measurement Confederation. - ISSN 0263-2241 (Vol. 176, maj 2021, str. 1-16)
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Database name | Field | Year |
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Links to authors' personal bibliographies | Links to information on researchers in the SICRIS system |
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Štebe, Gašper | 36874 |
Krapež, Peter, 1993- | 50656 |
Podobnik, Janez, 1980- | 25411 |
Kogoj, Dušan | 05674 |
Source: Personal bibliographies
and: SICRIS
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