Kombinirane kinematične geodetske meritve z visoko frekvenčnim zajemom podatkov

doktorska disertacija

Gašper Štebe (Author), Dušan Kogoj (Mentor), Dušan Petrovič (Thesis defence commission member), Aleš Marjetič (Thesis defence commission member), Nedim Tuno (Thesis defence commission member)

Abstract

Za kontrolo stabilnosti objektov, na katerih pričakujemo nenehne premike in deformacije, uporabljamo merske metode, ki omogočajo kontinuirano kinematično spremljanje premikov objekta glede na stabilno okolico. Sodobni robotski tahimetri (RTS) v kinematičnem načinu merjenja omogočajo določitev položaja s frekvencami v velikostnem razredu 10 Hz. V primeru oscilacij objektov z višjimi frekvencami s takim načinom ne moremo več določiti kakovostne trajektorije objekta, s katero bi lahko opisali dejansko nihanje objekta. V doktorski disertaciji analiziramo možnost izboljšanja rezultatov kinematičnih meritev robotskega tahimetra s kombiniranjem visokofrekvenčnih meritev nizkocenovnega senzorja inercialne merske enote (IMU). Analizirali smo kakovost rezultatov, ki jih dosežemo z ločeno in samostojno uporabo obeh merskih sistemov. Pri obdelavi kinematičnih meritev RTS smo predstavili metodo Kalmanovega filtra. Pri obdelavi meritev nizkocenovnih senzorjev IMU smo razvili model in postopek kalibracije senzorja. S samostojno uporabo nizkocenovnega senzorja IMU smo brez nadaljnje obdelave rezultatov določili trajektorijo objekta, pri kateri je bilo po minuti delovanja prisotno lezenje v položaju v velikostnem razredu nekaj sto metrov. Analizirali smo metode, s katerimi lahko v veliki meri odstranimo lezenje položaja, najboljše rezultate smo dobili z uporabo visoko prepustnega Zero Phase filtra. Kinematične meritve z RTS in meritve IMU smo združili z uporabo razširjenega modela meritev Kalmanovega filtra v kombinaciji s postopkom glajenja in z metodo združevanja trajektorij, določenih z linearno interpolacijo odstopanj med trajektorijama določenima z meritvami RTS in IMU, ki so obdelana s postopkom Zero Phase filtra. Z eksperimentalnim delom smo potrdili primernost metod in v našem primeru rezultate kinematičnega merjenja z RTS izboljšali za skoraj 50 %.

Keywords

kinematične meritve;robotski tahimeter;IMU;Kalmanov filter;Zero Phase filter;Grajeno okolje;kinematično merjenje premikov;

Data

Language:	Slovenian
Year of publishing:	2022
Typology:	2.08 - Doctoral Dissertation
Organization:	UL FDV - Faculty of Social Sciences
Publisher:	[G. Štebe]
UDC:	681.5.015.44:528.02:528.531(043.3)
COBISS:	129712643
Views:	122
Downloads:	22
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Combined kinematic geodetic measurements with high frequency data acquisition
Secondary abstract:	To control the stability of objects where continuous motion and deformation are expected, measurement techniques are used that provide continuous kinematic monitoring of the object's motion with respect to a stable environment. Modern robotic total stations (RTS) in kinematic measurement mode allow position determination with frequencies around 10Hz. In the case of oscillations of objects with higher frequencies, it is no longer possible to determine the representative trajectory of the object with these methods. In the dissertation we investigate the possibility of improving the results of kinematic measurements of a robotic total station by combining high-frequency measurements of a low-cost inertial measurement unit (IMU). We analyzed the quality of the results obtained by using both measurement systems separately. For processing the kinematic RTS measurements, we presented the Kalman filter method. For processing the measurements from low-cost IMU sensors, we developed a model and a method for calibrating the sensor. By using a standalone low-cost IMU sensor without further processing of the results, we determined the trajectory of the object in which a drift of several hundred meters occurred after one minute of operation. We analyzed methods that can largely eliminate the drift, and the best results were obtained with a high-pass Zero Phase filter. Kinematic RTS measurements and IMU measurements were combined using an extended Kalman filter measurement model in combination with a smoothing procedure and a method for combining trajectories obtained by linear interpolation of the differences between trajectories determined by RTS and IMU measurements processed with the Zero Phase filter. We have confirmed the suitability of the methods with experimental work, and in our case the results of the kinematic RTS measurements were improved by almost 50%.
Secondary keywords:	Built Environment;geodesy;doctoral thesis;kinematic measurements;robotic total station;IMU;Kalman filter;Zero Phase filter;kinematic tracking measurement;Geodezija;Disertacije;Meritve;
Type (COBISS):	Doctoral dissertation
Thesis comment:	Univ. v Ljubljani, Fak. za gradbeništvo in geodezijo
Pages:	XIX, 145 str.
ID:	17111272