An Implementation of Error Minimization Position Estimate in Wireless Inertial Measurement Unit using Modification ZUPT
Abstract
Position estimation using WIMU (Wireless Inertial Measurement Unit) is one of emerging technology in the field of indoor positioning systems. WIMU can detect movement and does not depend on GPS signals. The position is then estimated using a modified ZUPT (Zero Velocity Update) method that was using Filter Magnitude Acceleration (FMA), Variance Magnitude Acceleration (VMA) and Angular Rate (AR) estimation. Performance of this method was justified on a six-legged robot navigation system. Experimental result shows that the combination of VMA-AR gives the best position estimation.
Downloads
References
Höflinger, F., Zhang, R., & Reindl, L. M., Indoor-localization system using a micro-inertial measurement unit (IMU), In European Frequency and Time Forum (EFTF), pp. 443-447, 2012.
Baldwin, G., Mahony, R., Trumpf, J., Hamel, T., & Cheviron, T., Complementary filter design on the Special Euclidean group SE (3). In Control Conference (ECC), European, pp. 3763-3770, 2007
Madgwick Sebastian., An efficient orientation filter for inertial and inertial/magnetic sensor arrays. Report x-io and University of Bristol (UK), 2010
Premerlany William, Bizard Paul, Direction cosine matrix imu: Theory. DIY DRONE: USA, pp. 13-15, 2009
Wang, Zhelong, et al., Stance-phase detection for ZUPT-aided foot-mounted pedestrian navigation system, IEEE/ASME Transactions on Mechatronics, pp.3170-3181, 2015
Romaniuk, Sławomir, and Zdzisław Gosiewski, Kalman filter realization for orientation and position estimation on dedicated processor, acta mechanica et automatic, pp. 88-94, 2014
Zhang, Rui, Fabian Hoflinger, and Leonhard Reindl. Inertial sensor based indoor localization and monitoring system for emergency responders, IEEE Sensors Journal, pp. 838-848, 2013
Walchko K. J., Nechyba M. C., Schwartz E., and Arroyo A. Embedded low cost inertial navigation system. In Florida Conference on Recent Advances in Robotics, FAU, Dania Beach, pp. 8-9, 2003
Wang Jeen-Shing, Hsu Yu-Liang, Liu Jiun-Nan, An inertial-measurement-unit-based pen with a trajectory reconstruction algorithm and its applications, IEEE Transactions on Industrial Electronics, pp. 3508-3521, 2010
Casanova, Oscar Laureano. Robot position tracking using kalman filter, Proceedings of the World Congress on Engineering 2008, London,U.K ,Vol II, 2008
Woodman, Oliver J., An introduction to inertial navigation., University of Cambridge, Computer Laboratory, Technical Report No.696, ISSN.1476-2986, 2007
Bak Thomas, Lecture notes-modeling of mechanical systems, Department of Control Engineering , 2002
Abdulrahim, Khairi, et al., Understanding the performance of zero velocity updates in MEMS-based pedestrian navigation., International Journal of Advancements in Technology, pp.53-60, 2014
The copyright to this article is transferred to Politeknik Elektronika Negeri Surabaya(PENS) if and when the article is accepted for publication. The undersigned hereby transfers any and all rights in and to the paper including without limitation all copyrights to PENS. The undersigned hereby represents and warrants that the paper is original and that he/she is the author of the paper, except for material that is clearly identified as to its original source, with permission notices from the copyright owners where required. The undersigned represents that he/she has the power and authority to make and execute this assignment. The copyright transfer form can be downloaded here .
The corresponding author signs for and accepts responsibility for releasing this material on behalf of any and all co-authors. This agreement is to be signed by at least one of the authors who have obtained the assent of the co-author(s) where applicable. After submission of this agreement signed by the corresponding author, changes of authorship or in the order of the authors listed will not be accepted.
Retained Rights/Terms and Conditions
- Authors retain all proprietary rights in any process, procedure, or article of manufacture described in the Work.
- Authors may reproduce or authorize others to reproduce the work or derivative works for the author’s personal use or company use, provided that the source and the copyright notice of Politeknik Elektronika Negeri Surabaya (PENS) publisher are indicated.
- Authors are allowed to use and reuse their articles under the same CC-BY-NC-SA license as third parties.
- Third-parties are allowed to share and adapt the publication work for all non-commercial purposes and if they remix, transform, or build upon the material, they must distribute under the same license as the original.
Plagiarism Check
To avoid plagiarism activities, the manuscript will be checked twice by the Editorial Board of the EMITTER International Journal of Engineering Technology (EMITTER Journal) using iThenticate Plagiarism Checker and the CrossCheck plagiarism screening service. The similarity score of a manuscript has should be less than 25%. The manuscript that plagiarizes another author’s work or author's own will be rejected by EMITTER Journal.
Authors are expected to comply with EMITTER Journal's plagiarism rules by downloading and signing the plagiarism declaration form here and resubmitting the form, along with the copyright transfer form via online submission.
