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  • Trajectory tracking of an oscillating movement with a low-cost IMU in geodetic surveying applications
    Štebe, 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.
    Vir: Measurement : journal of the International Measurement Confederation. - ISSN 0263-2241 (Vol. 176, maj 2021, str. 1-16)
    Vrsta gradiva - članek, sestavni del
    Leto - 2021
    Jezik - angleški
    COBISS.SI-ID - 59228675

    Povezava(-e):

    https://www.sciencedirect.com/science/article/pii/S0263224121002244
    Repozitorij Univerze v Ljubljani – RUL
    DOI

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