Daljinsko upravljanje bespilotnom letjelicom temeljeno na inercijalnim senzorima postavljenim na tijelo pilota

master's thesis

• Title (english): Unmanned aerial vehicle remote control based on inertial sensors mounted on the pilot's body
• Author: Ivana Jović
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Goran Vasiljević (član povjerenstva)
• Committee member: Zdenko Kovačić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2021-07-09, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Daljinsko upravljanje bespilotnom letjelicom osigurano je pomoću inercijalnih mjernih jedinica. Inercijalne mjerne jedinice postavljene su na gornji dio tijela pilota bespilotne letjelice - dno leđa, vrat, desno rame, lijevo rame, desni lakat, lijevi lakat, desni ručni zglob i lijevi ručni zglob. Rad s inercijalnim senzorima zahtijevao je prvenstveno kalibraciju parametara kako bi se postavio standard za položaj senzora te kako bi se smanjile pogreške uzrokovane netočnim mjerenjima senzora. Na temelju mjerenih podataka inercijalnih senzora poput orijentacije radila se estimacija položaja pilota. Pri tom su se izračunali potrebni kutovi gibanja i kinematika gornjeg dijela tijela pilota određena Denavit-Hartenbergovom metodom. Pomoću položaja tijela pilota osigurano je daljinsko upravljanje bespilotnom letjelicom. Izvela su se osnovna gibanja letjelice poput kretanja naprijed, natrag, lijevo, desno, gore i dolje čineći šest stupnjeva slobode. Upravljanje bespilotnom letjelicom obavljala su desna ruka pilota, vrat i leđa. Bespilotna letjelica na sebi sadrži i robotsku ruku čije upravljanje odgovaralo kretanju lijeve ruke pilota.

Abstract (english)

Unmanned aerial vehicle (UAV) remote control was provided by inertial measurement units. Inertial measurement units were placed on the upper pilot's body - bottom of the back, neck, right shoulder, left shoulder, right elbow, left elbow, right wrist and left wrist. Working with inertial sensors required primarily parameter calibration to set standard for sensor position and to reduce errors caused by inaccurate measurements of sensor. The pilot's pose estimation was based on the measured data of the inertial sensors such as orientation. Then it was possible to get angles of motion and make forward kinematics of the upper pilot's body based on the Denavit-Hartenberg method. The pose of the pilot's body was used to provide UAV remote control. That were the basic movements like moving forward, backward, left, right, up and down making six degrees of freedom (6DOF). The right pilot's arm, the neck and the back controled the UAV. Also, there is the robotic arm on the UAV whose control corresponded to the movement of the pilot's left arm.

• Keywords: IMU; položaj; kvaternion; kinematika; bespilotna letjelica; daljinsko upravljanje
• Keywords (english): IMU; pose; quaternion; kinematics; UAV; remote control
• Language: croatian
• URN:NBN: urn:nbn:hr:168:372922
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-13 12:32:40