Trajectory tracking of an oscillating movement with a low-cost IMU in geodetic surveying applications

Gašper Štebe (Author), Peter Krapež (Author), Janez Podobnik (Author), Dušan Kogoj (Author)

Abstract

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.

Keywords

low-cost;low-cost IMU;IMU calibration;3D trajectory;tracking;kinematic measurements;zero phase;filter Kalman;

Data

Language:	English
Year of publishing:	2021
Typology:	1.01 - Original Scientific Article
Organization:	UL FGG - Faculty of Civil and Geodetic Engineering
UDC:	528
COBISS:	59228675
ISSN:	0263-2241
Views:	344
Downloads:	69
Average score:	0 (0 votes)
Metadata:

Other data

Type (COBISS):	Article
Pages:	str. 1-16
Issue:	ǂVol. ǂ176
Chronology:	maj 2021
DOI:	10.1016/j.measurement.2021.109207
ID:	12963091