Mjerenje brzine vozila

undergraduate thesis

• Title (english): Vehicle speed measurement
• Author: Marko Švec
• Mentor: Mario Vražić (mentor)
• Committee member: Mario Vražić (predsjednik povjerenstva)
• Committee member: Šandor Ileš (član povjerenstva)
• Committee member: Damir Vuljaj (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2016-07-11, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Dan je povijesni pregled sustava mjerenja brzine s početkom na kraju 19. stoljeća. Opisani su mehanički brzinomjer i dva najčešća načina elektroničkog mjerenja brzine: Reedov prekidač i Hallove sonde. Uvod u satelitsku navigaciju i GPS. Mjerenje brzine pomoću GPS-a i Dopplerov efekt GPS signala. Radi dodatnog pojašnjenja relativističkog Dopplerovog efekta objašnjeni su osnovni principi specijalne i opće teorije relativnosti. GPS sustav nadopunjen je INS sustavom navigacije i opisan je fizikalni princip funkcioniranja akcelerometra i žiroskopa. Integracija satelitske navigacije i inercijalnih osjetila izvedena je pomoću Kalmanovog filtra. Navedeni su matematički modeli za estimaciju nagiba i brzine vozila. U zadnjem poglavlju prikazan je postav mjerenja i snimljeni valni oblici: uporedba mjerenja brzine GPS signalima frekvencije 1Hz, 10Hz i 20Hz, mjerenje brzine akcelerometrom i estimacija brzine Kalmanovim filtrom. Komentirane su razlike, ograničenja i mogućnosti nadogradnje korištenih estimacijskih modela.

Abstract (english)

Historical review of speed measurement systems starting in late 19th century is given. Mechanical speedometer and two most common electronic speed measurement techniques are described: Reed switch and Hall effect sensors. Introduction to satellite navigation and GPS. Speed measurement using GPS and Doppler effect of GPS signal. To present better explanation of relativistic Doppler effect, basic principles of special and general theory of relativity are clarified. GPS is extended with INS and physical principles of accelerometer and gyroscope are described. Satellite navigation and inertial sensors integration is done with Kalman filter. Mathematical models for incline and speed estimation are suggested. In last chapter there is shown sensor placement and recorded waveforms: comparation of speed measurements conducted with 1Hz, 10Hz and 20Hz GPS signals, accelerometer speed measurement and Kalman filter speed estimation. Differences between waveforms are discussed as well as limitations and improvement possibilities of used estimation models.

• Keywords: mjerenje brzine; brzinomjer; mehanički brzinomjer; elektronički brzinomjer; GPS; Sagnac efekt; klasični Dopplerov efekt; relativistički Dopplerov efekt; akcelerometar; žiroskop; Kalmanov filtar; estimacija
• Keywords (english): speed measurement; speedometer; mechanical speedometer; electronic speedometer; GPS; Sagnac effect; classical Doppler effect; relativistic Doppler effect; accelerometer; gyroscope; Kalman filter; estimation
• Language: croatian
• URN:NBN: urn:nbn:hr:168:608862
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2018-02-06 12:26:17