Método para Estimativa de Trajeto Baseado em Dados de Unidades de Medição Inercial

Abstract

The Internet of Things (IoT) has emerged as a new vision for the Internet, where awide range of devices can connect to the network. This concept is directly related tothe technological advances experienced in the development of semiconductors andintegrated circuits. These devices became cheaper, smaller, and more power efficient.These advances also enable the emergence of new applications, like real-time localiza-tion. Precise location through orientation plays a critical role in estimating the tracking ofa sensor attached to an object. The main objective of this work is to evaluate, through ex-perimentation, a trajectory estimation method based on the gradient descent algorithmand acceleration and rotation data activated by a low-cost Inertial Measurement Unit(IMU). The experiment was performed by collecting data in a straight walk, performed30 times, at a frequency of 100Hz and 50Hz. The equipment used was an MPU-6050sensor coupled to a TTGO T-Beam development board. The localization estimationswere calculated by an algorithm written in Python language. The results have shownthat it is possible to use an IMU to estimate a trajectory performed by a person withreasonable accuracy, adopting a sample rate of 50Hz.