GPS与IMU传感器在无人车辆跟踪系统中的应用

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"《基于GPS和IMU传感器的对象追踪》是一篇由Wahyudi、Ngatelan、Meita Sukma Listiyana和Sudjadi四位作者共同完成的研究论文，发表在 Diponegoro University 的电气工程系。该研究主要关注无人驾驶车辆中对象追踪系统的重要性，尤其是在远程操控下监控目标物体的运动，由于距离遥远，实时的位置和姿态信息对于操作者至关重要。论文的核心焦点是利用全球定位系统（GPS）和惯性测量单元（IMU）传感器来获取对象的位置和姿态信息。IMU是一种集成了加速度计、陀螺仪和磁力计等多种传感器的设备。在IMU系统中，陀螺仪提供角度数据，而加速度计则提供关于物体加速度和方向变化的信息。为了精确地确定物体的姿态，这两类数据需要通过复杂的算法进行融合和处理，这通常涉及到数学模型如卡尔曼滤波器或者扩展卡尔曼滤波器，以减少噪声和提高数据准确性。 GPS主要用于提供精确的三维地理位置，而IMU则提供了关于物体运动的内在状态，如速度、旋转和加速度等，两者结合可以形成一个强大的位置跟踪解决方案，即使在GPS信号不佳或遮挡的情况下也能提供相对稳定的估计。这对于无人驾驶汽车、无人机、机器人等自主移动设备的导航和控制具有重要意义。论文可能详细讨论了如何设计和实现这样的跟踪系统，包括硬件选型、数据融合算法的优化以及实际应用中的误差分析和性能评估。此外，作者们可能还探讨了如何在不同环境条件下，如多路径效应、传感器漂移等因素下保持系统的稳定性和精度。这篇论文为理解如何在现代信息技术支持下实现高效、精确的对象追踪系统提供了深入的技术洞察，对提高无人系统自主性和可靠性具有重要的理论和实践价值。"

Tracking Object based on GPS and IMU Sensor

Wahyudi

Department of Electrical Engineering

Diponegoro University

Semarang, Indonesia

wahyuditinom@elektro.undip.ac.id

Ngatelan

Department of Electrical Engineering

Diponegoro University

Semarang, Indonesia

ngatelan@undip.ac.id

Meita Sukma Listiyana

Department of Electrical Engineering

Diponegoro University Semarang,

Indonesia

meitasukma5@gmail.com

Sudjadi

Department of Electrical Engineering

Diponegoro University

Semarang, Indonesia

ksudjadi@gmail.com

Abstract—

Unmanned vehicles required a tracking system

to monitor the movement of the object. Tracking system

required because the object is controlled remotely and the

movement of an object is too far from an operator. This

tracking system requires object location and attitude. Global

Positioning System (GPS) and Inertial Measurement Unit

(IMU) sensor can be used to obtain information about object

location and attitude. This IMU consists of some sensors, i.e.

accelerometer, gyroscope, and magnetometer. In IMU system,

angle data from gyroscope and accelerometer sensor must be

combined using a complementary filter because each sensor

data still has a noise signal. This paper discusses tracking

object using GPS and IMU sensor and then processed by the

microcontroller to display in Personal Computer (PC). Object

tracking system that designed works well. The result of testing,

the average of error for GPS and IMU system, respectively, are

2.67 m and 0.96

Keywords— tracking system; GPS; IMU sensor; position and

attitude

I. I

NTRODUCTION

EADING

The increasing of unmanned vehicles or unmanned

objects, such as Unmanned Aerial Vehicle (UAV) and

Unmanned Surveillance Vehicle (USV), required a tracking

system to know the movement of the object[1]. Tracking

system required because the object is controlled remotely

and the movement of an object is too far from an operator.

This tracking system requires object location and attitude.

Object location indicated by latitude and longitude

coordinates where the object is placed, while attitude

indicated by roll, pitch, and yaw angle.

Global Positioning System (GPS) and Inertial

Measurement Unit (IMU) sensor can be used to obtain

information about object location and attitude[2]. IMU

consists of several sensors, such as accelerometer,

gyroscope, and magnetometer sensor[3]. Such of the sensors

provide information about data angle, data from each sensor

must be combined because each sensor data still has a noise

signal. The sensor data must be filtered with complementary

filter, so the result turned to good[4].

This paper discusses about tracking object using GPS and

IMU sensor; that object is static and moving. The obtained

data is processed by microcontroller, then sent to Personal

Computer (PC) using receiver and transmitter antenna of

433MHzfrequency radio. Tracking object is monitored by

PC in real time.

II. M

ETHODOLOGY

A. Block Diagram

The GPS, accelerometer, gyroscope, and magnetometer

sensor are used as input for the system. Microcontroller is

used to process input data. The output system is PC, receiver

and transmitter antenna of 433MHzfrequency radio. Block

diagram of tracking object is shown in Fig.1.

GPS is giving information about location for the object,

i.e. latitude and longitude coordinate. Accelerometer,

gyroscope, and magnetometer sensor are giving information

about attitude of the object, there are roll, pitch, and yaw

angle. Complementary filter is used to combine the sensor

data, because the sensor data still has a noise signal. The

data inputs of GPS, accelerometer, gyroscope, and

magnetometer are processed on microcontroller. Data inputs

are sent using the transmitter antenna of 433MHzfrequency

radio after processed by microcontroller, then received by

the receiver antenna of 433MHzfrequency radio. Finally, the

data are displayed on PC.

B. Design of Hardware Components

The assembly of hardware components from the tracking

object system is made by following components as shown in

Fig. 2.

Fig. 1. Block diagram of tracking object based on GPS and IMU

sensor

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