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

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

Povzetek

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.

Ključne besede

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

Podatki

Jezik:	Angleški jezik
Leto izida:	2021
Tipologija:	1.01 - Izvirni znanstveni članek
Organizacija:	UL FGG - Fakulteta za gradbeništvo in geodezijo
UDK:	528
COBISS:	59228675
ISSN:	0263-2241
Št. ogledov:	344
Št. prenosov:	69
Ocena:	0 (0 glasov)
Metapodatki:

Ostali podatki

Vrsta dela (COBISS):	Članek v reviji
Strani:	str. 1-16
Zvezek:	ǂVol. ǂ176
Čas izdaje:	maj 2021
DOI:	10.1016/j.measurement.2021.109207
ID:	12963091