20.500.12556/RUL-127259 Trajectory tracking of an oscillating movement with a low-cost IMU in geodetic surveying applications 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. low-cost low-cost IMU IMU calibration 3D trajectory tracking kinematic measurements zero phase Kalman filter zero phase filter 3D trajectory tracking true false true Angleški jezik Ni določen Članek v reviji 2021-05-31 13:13:57 2021-05-31 13:13:59 2022-09-06 03:50:24 0000-00-00 00:00:00 2021 0 0 16 str. Vol. 176, art. 109207 May 2021 0000-00-00 Zaloznikova Objavljeno apc 0000-00-00 0000-00-00 0000-00-00 528 0263-2241 10.1016/j.measurement.2021.109207 59228675 1-s2.0-S0263224121002244-main.pdf 1-s2.0-S0263224121002244-main.pdf 1 3BB35463EB9B572596A971EEFB0087B3 4fb45bba3174f2b57a4a070851ea8abad5e35ad425b3ffe9f9e5c2cb95016b0a 950b6f55-08e9-11ed-8aca-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=158807 https://www.sciencedirect.com/science/article/pii/S0263224121002244 1 3a720225-c201-11eb-a523-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=143569 Fakulteta za gradbeništvo in geodezijo Fakulteta za elektrotehniko 0 0 0