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

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

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.

• Language: English
• Keywords: low-cost, low-cost IMU, IMU calibration, 3D trajectory, tracking, kinematic measurements, zero phase, Kalman filter, zero phase filter, 3D trajectory tracking
• Work type: Article
• Typology: 1.01 - Original Scientific Article
• Organization: FGG - Faculty of Civil and Geodetic Engineering; FE - Faculty of Electrical Engineering
• Publication status: Published
• Publication version: Version of Record
• Year: 2021
• Number of pages: 16 str.
• Numbering: Vol. 176, art. 109207
• PID: 20.500.12556/RUL-127259
• UDC: 528
• ISSN on article: 0263-2241
• DOI: 10.1016/j.measurement.2021.109207
• COBISS.SI-ID: 59228675
• Publication date in RUL: 31.05.2021

Record is a part of a journal

• Title: Measurement : journal of the International Measurement Confederation
• Shortened title: Measurement
• Publisher: Elsevier, International Measurement Confederation
• ISSN: 0263-2241
• COBISS.SI-ID: 25917696

Licences

• License: CC BY-NC-ND 4.0, Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International
• Link: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Description: The most restrictive Creative Commons license. This only allows people to download and share the work for no commercial gain and for no other purposes.

Projects

• Funder: ARRS - Slovenian Research Agency
• Project number: P2-0227
• Name: Geoinformacijska infrastruktura in trajnostni prostorski razvoj Slovenije