Merjenje kota odpiranja avtomobilskih vrat z vztrajnostno merilno enoto

magistrsko delo

Luka Jerman (Author), Matej Vesenjak (Mentor)

Abstract

V delu je predstavljen razvoj merilnega sistema, uporabljenega na osebnem vozilu, za meritev kota odprtja: pokrova motornega prostora, potniških vrat in prtljažnih vrat. Sistem je namenjen uporabi v razvojnem procesu vozila. Razvit merilni sistem sestavljata vztrajnostna merilna enota Honeywell HGuide i300 in osebni računalnik s programskim paketom za zajem podatkov Dewesoft X. Meritev kota temelji na oceni usmerjenosti vztrajnostne merilne enote, ki je med meritvijo pritrjena na vrata. Usmerjenost je ocenjena iz meritev pospeškomerov in žiroskopov enote. Ocena temelji na izračunu stanj enote v dveh razširjenih Kalmanovih filtrih. Algoritem za oceno usmerjenosti je zapisan v vključku za programski paket Dewesoft X. Uporabnost in natančnost sistema je predstavljena z rezultati meritev kota odprtja pokrova, potniških vrat in prtljažnika. Absolutna napaka meritve po enem merilnem intervalu, na vseh treh tipih vrat, ni presegala 0,1°, kar ustreza zahtevanim kriterijem.

Keywords

vztrajnostna merilna enota;razširjeni Kalmanov filter;usmerjenost;rotacijski kvaternion;meritev kota;zajem podatkov;magistrske naloge;

Data

Language:	Slovenian
Year of publishing:	2020
Typology:	2.09 - Master's Thesis
Organization:	UM FS - Faculty of Mechanical Engineering
Publisher:	[L. Jerman]
UDC:	531.74:681.532.8(043.2)
COBISS:	15330563
Views:	952
Downloads:	80
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Car door opening angle measurement with an inertial measurement unit
Secondary abstract:	This thesis presents the development of a measurement system, that is able to measure the opening angle of a car: bonnet, passenger door and tailgate. The system is purposed for measurements in the development process of a vehicle. The developed system consists of a Honeywell HGuide i300 inertial measurement unit and a personal computer with Dewesoft X data acquisition software package. Angle measurement is based on the orientation estimate of an inertial measurement unit that is fixed onto the measured door. Unit orientation is estimated from the measurements of its accelerometers and gyroscopes. Estimation is based on the unit state estimates calculated by two extended Kalman filters. The estimation algorithm is implemented in a plugin for Dewesoft X software. Measurement system applicability and accuracy is presented with the results of car bonnet, passenger door and tailgate opening angle measurements. Absolute measurement error after one measurement interval, on all three types of doors, was always below 0.1°, which corresponds to the requested criteria.
Secondary keywords:	inertial measurement unit;extended Kalman filter;orientation;rotational quaternion;angle measurement;data acquisition;
Type (COBISS):	Master's thesis/paper
Thesis comment:	Univ. v Mariboru, Fak. za strojništvo, Računalniško inženirsko modeliranje
Pages:	XIII, 86 str.
ID:	11460483