Application of ZUPT-Aided INS to Indoor Localization of Tightening Tools
| Autor: | Mauro Onori, Mahmood Reza Khabbazi, Satyajit Bagchi, Jan Wikander |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
Computer science
020208 electrical & electronic engineering Detector Test rig 02 engineering and technology 01 natural sciences Industrial and Manufacturing Engineering 010309 optics Units of measurement Extended Kalman filter Artificial Intelligence Inertial measurement unit 0103 physical sciences 0202 electrical engineering electronic engineering information engineering Trajectory MATLAB computer Simulation computer.programming_language |
| Zdroj: | Procedia Manufacturing. 25:565-569 |
| ISSN: | 2351-9789 |
| DOI: | 10.1016/j.promfg.2018.06.116 |
| Popis: | This paper presents the application of zero velocity detectors in the field of indoor positioning for industrial tightening tools particularly in tandem with an extended Kalman filter to achieve reliable estimates in position. Inertial measurement units are promising devices to use in positioning systems. Data has been collected from IMU while moving in a predefined trajectory on a tightening test rig and post-processed in MATLAB using the implemented algorithms and the results are presented. They indicate that the error accumulation can be effectively controlled to 25 cm/min for the commercial grade IMU and 15 cm/min for the navigation grade IMU. |
| Databáze: | OpenAIRE |
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