IMU Networks for Trajectory Reconstruction in Logistics Applications

Abstract

This paper discusses the use of networks of Inertial Measurement Units (IMUs) for the reconstruction of trajectories from sensor data. Logistics is a natural application domain to verify the quality of the handling of goods. This is a mass application and the economics of logistics impose that the IMUs to be used must be low-cost and use basic computational devices. The approach in this paper converts a strategy from the literature, used in the multi-target following problem, to reach a consensus in a network of IMUs. This paper presents results on how to achieve the consensus in trajectory reconstruction, along with covariance intersection data fusion of the information obtained by all the nodes in the network.

Keywords

• trajectory reconstruction
• Inertial Measurement Unit
• Linear Matrix Inequalities
• covariance intersection
• target following