Open AccessAn Implementation of Error Minimization Position Estimate in Wireless Inertial Measurement Unit using Modification ZUPT
Author(s) -
Adytia Darmawan,
Sanggar Dewanto,
Dadet Pramadihanto
Publication year - 2016
Publication title -
emitter international journal of engineering technology
Language(s) - English
Resource type - Journals
eISSN - 2443-1168
pISSN - 2355-391X
DOI - 10.24003/emitter.v4i2.156
Subject(s) - inertial measurement unit , acceleration , position (finance) , global positioning system , inertial navigation system , control theory (sociology) , computer science , accelerometer , inertial frame of reference , wireless , variance (accounting) , artificial intelligence , telecommunications , physics , control (management) , finance , classical mechanics , quantum mechanics , economics , operating system , business , accounting
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.