6C Motion Tracking for monitoring

This work, led by Yara Rossi, explores use of a Kalman Filter-Based Fusion of Collocated Acceleration, GNSS and Rotation Data for 6 component (6C) Motion Tracking. This forms a collaboration of the Chair with the Institute of Geodesy and Photogrammetry and the Swiss Seismological Service at ETH Zurich.

Seismic and structural motions include rotations as well as translations, which can be best tracked by multi-component collocated sensing. Current sensing solutions are usually limited to 3 components of either translational or rotational nature. This work puts forth a Kalman filter-based fusion for heterogeneous measurements from accelerometers, GNSS instrumentation and rotational sensors, for more accurate monitoring of structural and seismic motions. The method was tested on an experimental case study using an industrial six-axis robot arm. The proposed filter formulation is able to exploit the strengths of each instrument and recover more precise motion estimates that can be exploited for multiple purposes.

Read more on external page Volume 21 of Sensors