EMITTER International Journal of Engineering Technology
Vol 4 No 2 (2016)

An Implementation of Error Minimization Position Estimate in Wireless Inertial Measurement Unit using Modification ZUPT

Adytia Darmawan (Politeknik Elektronika Negeri Surabaya)
Sanggar Dewanto (Politeknik Elektronika Negeri Surabaya)
Dadet Pramadihanto (Politeknik Elektronika Negeri Surabaya)

Article Info

Publish Date
15 Dec 2016

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.

Copyrights © 2016




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Journal Info
EMITTER International Journal of Engineering Technology
Website

Abbrev

EMITTER

Publisher

Politeknik Elektronika Negeri Surabaya

Subject

Computer Science & IT

Description

EMITTER International Journal of Engineering Technology is a BI-ANNUAL journal published by Politeknik Elektronika Negeri Surabaya (PENS). It aims to encourage initiatives, to share new ideas, and to publish high-quality articles in the field of engineering technology and available to everybody at ...