Određivanje lokacije ronioca pomoću triangulacije signala akustičnih jedinica

undergraduate thesis

• Title (english): Determination of the diver's position by signal triangulation of acoustic units
• Author: Luka Bradarić Lisić
• Mentor: Hrvoje Džapo (mentor)
• Committee member: Hrvoje Džapo (predsjednik povjerenstva)
• Committee member: Karla Salamun (član povjerenstva)
• Committee member: Antonio Stanešić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2024-07-12, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

U okviru rada nadograđen je postojeći sustav za praćenje lokacije ronioca u stvarnom vremenu. Sustav se sastoji od više funkcionalnih jedinica koje primjenom odgovarajućih komunikacijskih protokola i tehnologija lokalizacije omogućuju praćenje ronioca pod vodom. Za komunikaciju između jedinica koriste se koriste protokoli LoRa i ESP-NOW. Lokalizacija fiksnih plutajućih čvorova obavlja se korištenjem GPS-a, a ronioca ispod vode ultrazvučnim primopredajnicima. Razvijen je kompletan prototipni sustav koji se sastoji od GPS modula Adafruit Ultimate GPS V3, LoRa modula SX1276, akustičnog podvodnog sustava Succorfis Delphis V3 i mikrokontrolera ESP32-WROOM-32D, zajedno s pratećom programskom potporom. Upravljanje sustavom izvedeno je putem kopnene jedinice, na kojoj je implementirana vizualizacija lokacije ronioca pomoću razvojne okoline ROS i programa za vizualizaciju Foxglove. Za procjenu lokacije ronioca koristi se L-BFGS-B algoritam, koji je implementiran u programskom jeziku Python koristeći biblioteku SciPy. Ispitivanje sustava provedeno u realnim okolišnim radnim uvjetima.

Abstract (english)

In this thesis an existing system for monitoring the diver's position in a real time was upgraded. The system consists of several functional units that enable underwater monitoring of divers by using suitable communication protocols and localization technologies. LoRa and ESP-NOW protocols are used for communication between the units. The fixed floating nodes are localised using GPS while diver underwater location is monitored using ultrasonic transceivers. A prototype system was developed and it includes the Adafruit Ultimate GPS V3 GPS module, the SX1276 LoRa module, the Succorfis Delphis V3 underwater acoustic system, and the ESP32-WROOM-32D microcontroller. Associated software for all system units was developed. The whole system is controlled via a coastal unit where the visualisation of the diver's position is implemented by using the ROS and the Foxglove visualisation environments. The L-BFGS-B algorithm is used to estimate the diver's position and it is implemented in the Python using the SciPy library. The system was tested under realistic environmental conditions.

• Keywords: ESP32-WROOM-32D; LoRa; SX1276; Ultimate GPS V3; ESP-NOW; akustični podvodni sustavi; Delphis V3; PlatformIO; Arduino; SciPy; L-BFGS-B; ROS; Foxglove
• Keywords (english): ESP32-WROOM-32D; LoRa; SX1276; Ultimate GPS V3; ESP-NOW; acoustic underwater systems; Delphis V3; PlatformIO; Arduino; SciPy; L-BFGS-B; ROS; Foxglove
• Language: croatian
• URN:NBN: urn:nbn:hr:168:859970
• Study programme: Title: Computing; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2024-10-12 20:10:27