Pedometre, GNSS ve IMU ile Mesafe Ölçüm Doğruluğunun Tespit Edilmesi ve Yeni Geliştirilen İvme Sensörü Temelli Yöntem

Konum belirleme uygulamaları, son yıllarda mobil telefonlarının da konum belirleyebilmesi kabiliyetini edinmesi ile yaygınlaşmaya başlamıştır. Genel olarak GNSS ile konum belirleme yöntemleri kullanılırken, kapalı alanda GNSS sisteminin verimli olarak çalışmaması neticesinde, konum belirleme için başka yöntemler geliştirilmesi çabası içine girilmiştir. Yaygın olarak yerel ağlar kurmak ve bu yerel ağlar ile mesafeler ölçerek konum belirlemek bu yöntemlerin temel çalışma prensibidir. Bunun için, Bluetooth, kablosuz ağlar ve değişik frekanslara sahip sinyaller, ses ötesi sinyaller, radyo frekansları ile çalışan RFID modülleri vb. sistemler kullanılmaktadır. Hem gerçek zamanlı veriler üretilebilmekte hem de üretilen veriler sunuculara kaydedilerek saklanabilmekte ve daha sonra kullanıcılar hizmetine sunulmaktadır. Kullanılan teknolojiye göre yüksek ve orta konum doğruluğuna sahip veriler elde edilebilmektedir. Ancak bu sistemlerin ağ oluşturma gereksinimi yüzünden yüksek maliyetli olması ve açık alanlarda sonuç üretememesi yüzünden özellikle spor uygulamalarında IMU temelli sadece mesafe ölçen çözümlerin oluşturulmasına neden olmuştur. Sunulan makalede, konum belirlemenin temeli olan mesafe ölçümünün yüksek doğrulukta sadece ivme sensörü kullanılarak elde edilmesine yönelik yöntem ve filtreler geliştirilmiştir. Elde edilen sonuçlar, diğer mesafe ölçme yöntemleri ve gerçek mesafe ile kıyaslanmıştır. Geliştirilen filtreler, değişken adım uzunluğu tespiti ile mesafe ölçümü hesabına dayalı olarak, yanlış adım tespitini engellemek, statik hareketleri filtrelemek ve genel olarak ivme sensörünün gürültülerini azaltarak doğru mesafeyi hesaplamak amacıyla geliştirilmiştir. Filtreler kullanılmadan ivme sensörü ile elde edilen mesafede hata miktarı %60’lara ulaşırken, geliştirilen yöntem ile hata miktarı %2’nin altına düşmüştür. Bu sonuçlar, geliştirilen yöntemin mesafe ölçümünde ve metre altı konum belirlemede kullanılabileceğini açıkça göstermiştir.

Anahtar Kelimeler:

GNSS, IMU, Mesafe Ölçme, Pedometre

Determining Distance Measurement Accuracy by Pedometer, GNSS and IMU and the New Developed Acceleration Sensor Based Method

Positioning applications have started to become widespread in recent years with the acquisition of the ability of mobile phones to determine location. While generally GNSS and positioning methods are used, as a result of the GNSS system not working efficiently in closed areas, efforts have been made to develop other methods for position determination. The basic working principle of these methods is to establish common local networks and to determine the location by measuring distances with these local networks. For this, Bluetooth, wireless networks and signals with different frequencies, ultrasonic signals, RFID modules working with radio frequencies, etc. systems are used. Both real-time data can be produced and the generated data can be saved and stored on servers and then offered to users. According to the technology used, data with high and medium position accuracy can be obtained. However, due to the high cost of these systems due to the need for networking and the inability to produce results in open areas, IMU-based only distance measuring solutions have been created, especially in sports applications. In the presented article, methods and filters have been developed for obtaining distance measurement, which is the basis of position determination, with high accuracy using only the acceleration sensor. The obtained results have compared with other distance measuring methods and the actual distance. The developed filters have been developed to prevent false step detection, filter static movements, and generally calculate the correct distance by reducing the noise of the acceleration sensor, based on variable stride length detection and distance measurement calculation. The amount of error reached 60% in the distance obtained with the acceleration sensor without using filters, the amount of error decreased below 2% with the developed method. These results clearly showed that the developed method can be used for distance measurement and sub-meter position determination.

Keywords:

GNSS, IMU, Distance Measurement, Pedometer,

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