magistrsko delo
Uroš Burjek (Author), Iztok Kramberger (Mentor), Božidar Roglič (Co-mentor)

Abstract

V magistrskem delu je opisan razvoj sistema za natančno določanje položaja in orientacije. Sistem temelji na nizkocenovnih in lahko dostopnih komponentah. Za določanje položaja smo uporabili sprejemnik GNSS, ki ga za izboljšanje določitve položaja s pomočjo kalmanovega filtra, združujemo z inercijsko merilno enoto. Inercijsko merilno enoto sestavljajo pospeškometer, žiroskop in magnetometer. S pomočjo žiroskopa in magnetometra določamo orientacijo merilne enote, na ta način pretvorimo pospeške izmerjene s pospeškometrom v koordinatni sistem sprejemnika GNSS. V delu je predstavljeno delovanje sistema GNSS in Kalmanovega filtra. Hkrati so v delu zajeti različni koordinatni sistemi, ki jih potrebujemo za pravilno delovanje sistema. Opisano je tudi delovanje vgrajene programske opreme in njen razvoj. V zadnjem delu magisterskega dela so predstavljene meritve in delovanje merilnega sistema.

Keywords

inercijska merilna enota;Kalmanov filter;vgrajen sistem;magistrske naloge;

Data

Language: Slovenian
Year of publishing:
Typology: 2.09 - Master's Thesis
Organization: UM FERI - Faculty of Electrical Engineering and Computer Science
Publisher: [U. Burjek]
UDC: 621.3(043.2)
COBISS: 37129219 Link will open in a new window
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Other data

Secondary language: English
Secondary title: Embedded positioning system based on a inertial mesurement unit and a GNSS receiver
Secondary abstract: This masters thesis describes the development of a system for precise position and orientation determination. The system is based on easely accesible and cost effective components. For position determination we use a GNSS receiver. The receivers measurements are enhenced using a inertial measurement unit and combined with the use of a Kalman filter. The inerital measurement unit integrates an accelerometer, gyrosocope and a magnetometer. The gyroscope and magnetometer are used to determin the orientation of the measurement unit. Using the orientation data, we transform the acceleration from the accelerometer to the coordinate system of the GNSS receiver. Further it describes the workings of the GNSS system and Kalman filter. The work describes different coordinate system that are used to fuse the measurements from the GNSS and the IMU. It also describes the development and principles of the firmware. In the last part we present the measurments and workings of the measurement unit.
Secondary keywords: GNSS;inertial measurement unit;Kalman filter;embeded system;
Type (COBISS): Master's thesis/paper
Thesis comment: Univ. v Mariboru, Fak. za elektrotehniko, računalništvo in informatiko, Elektrotehnika
Pages: X, 68 str.
ID: 11975445