TY - JOUR AU - Adytia Darmawan AU - Sanggar Dewanto AU - Dadet Pramadihanto PY - 2016/12/15 Y2 - 2024/03/28 TI - An Implementation of Error Minimization Position Estimate in Wireless Inertial Measurement Unit using Modification ZUPT JF - EMITTER International Journal of Engineering Technology JA - EMITTER Int'l J. of Engin. Technol. VL - 4 IS - 2 SE - Articles DO - 10.24003/emitter.v4i2.156 UR - https://emitter.pens.ac.id/index.php/emitter/article/view/156 AB - 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. ER -