Trajectory Tracking of an Oscillating Movement with a Low-Cost IMU in Geodetic Surveying Applications

Gašper Štebe, Peter Krapež, Janez Podobnik, Dušan Kogoj
2021 Measurement (London)  
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) highprecision 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
more » ... ro-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.
doi:10.1016/j.measurement.2021.109207 fatcat:t4nac6fx2rhyrlybjl2un5kvga