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

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

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.

• Jezik: Angleški jezik
• Ključne besede: low-cost, low-cost IMU, IMU calibration, 3D trajectory, tracking, kinematic measurements, zero phase, Kalman filter, zero phase filter, 3D trajectory tracking
• Vrsta gradiva: Članek v reviji
• Tipologija: 1.01 - Izvirni znanstveni članek
• Organizacija: FGG - Fakulteta za gradbeništvo in geodezijo ; FE - Fakulteta za elektrotehniko
• Status publikacije: Objavljeno
• Različica publikacije: Objavljena publikacija
• Leto izida: 2021
• Št. strani: 16 str.
• Številčenje: Vol. 176, art. 109207
• PID: 20.500.12556/RUL-127259
• UDK: 528
• ISSN pri članku: 0263-2241
• DOI: 10.1016/j.measurement.2021.109207
• COBISS.SI-ID: 59228675
• Datum objave v RUL: 31.05.2021

Gradivo je del revije

• Naslov: Measurement : journal of the International Measurement Confederation
• Skrajšan naslov: Measurement
• Založnik: Elsevier, International Measurement Confederation
• ISSN: 0263-2241
• COBISS.SI-ID: 25917696

Licence

• Licenca: CC BY-NC-ND 4.0, Creative Commons Priznanje avtorstva-Nekomercialno-Brez predelav 4.0 Mednarodna
• Povezava: http://creativecommons.org/licenses/by-nc-nd/4.0/deed.sl
• Opis: Najbolj omejujoča licenca Creative Commons. Uporabniki lahko prenesejo in delijo delo v nekomercialne namene in ga ne smejo uporabiti za nobene druge namene.

Projekti

• Financer: ARRS - Agencija za raziskovalno dejavnost Republike Slovenije
• Številka projekta: P2-0227
• Naslov: Geoinformacijska infrastruktura in trajnostni prostorski razvoj Slovenije