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- Bagchi, SatyajitKTH,Maskinkonstruktion (Avd.) (author)
Application of ZUPT-Aided INS to Indoor Localization of Tightening Tools
- Article/chapterEnglish2018
Publisher, publication year, extent ...
- Elsevier B.V.2018
- printrdacarrier
Numbers
- LIBRIS-ID:oai:DiVA.org:kth-282694
- https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-282694URI
- https://doi.org/10.1016/j.promfg.2018.06.116DOI
Supplementary language notes
- Language:English
- Summary in:English
Part of subdatabase
- SwePubSwePub
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Notes
- QC 20201007
- 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.
Subject headings and genre
- TEKNIK OCH TEKNOLOGIER Elektroteknik och elektronik Signalbehandling hsv//swe
- ENGINEERING AND TECHNOLOGY Electrical Engineering, Electronic Engineering, Information Engineering Signal Processing hsv//eng
- TEKNIK OCH TEKNOLOGIER Elektroteknik och elektronik Reglerteknik hsv//swe
- ENGINEERING AND TECHNOLOGY Electrical Engineering, Electronic Engineering, Information Engineering Control Engineering hsv//eng
- indoor positioning
- inertial measurement unit
- Kalman filter
- sensor fusion
- state estimation
- zupt
Added entries (persons, corporate bodies, meetings, titles ...)
- Mahmood Reza, Khabbazi,1972-KTH,Mekatronik(Swepub:kth)u16vii5q (author)
- Onori, Mauro,1961-KTH,Industriell produktion(Swepub:kth)u1sthvmk (author)
- Wikander, Jan,1956-KTH,Mekatronik,Maskinkonstruktion (Avd.)(Swepub:kth)u1yqh1y3 (author)
- KTHMaskinkonstruktion (Avd.) (creator_code:org_t)
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- In:Procedia Manufacturing: Elsevier B.V., s. 565-5692351-9789
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