Implementacija AHRS algoritma na PSoC mikrokontroleru

master's thesis

• Title (english): Implementation of AHRS Algorithm Using PSoC Microcontroller
• Author: Josip Preglej
• Mentor: Mario Cifrek (mentor)
• Committee member: Mario Cifrek (predsjednik povjerenstva)
• Committee member: Hrvoje Džapo (član povjerenstva)
• Committee member: Željka Lučev Vasić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2022-07-08, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovom Diplomskom radu rečeno je što je to AHRS i predstavljeni su AHRS algoritmi koji su dostupni u otvorenom pristupu. Nakon što je sprovedena analiza i usporedba spomenutih algoritama, zaključeno je da je Madgwickov filtar najbolji izbor. Odabrani algoritam implementiran je pomoću PSoC 6 mikrokontrolera i senzora ICM 20948. Sa senzora ICM 20948 očitavaju se mjerenja akcelerometra, žiroskopa i magnetometra AK09916 te zatim obrađuju na PSoC 6 mikrokontroleru. Na PSoC 6 mikrokontroleru vrši se kalibracija akcelerometra i žiroskopa te magnetometra. Obrađena mjerenja senzora filtriraju se Madgwickovim filtrom i tako dobivamo podatak o orijentaciji senzora, točnije vrijednosti valjanja, propinjanja i skretanja. Rezultati implementacije AHRS prikazuju se u aplikaciji Data dashboard.

Abstract (english)

This thesis explains what AHRS is and presents the available open source AHRS algorithms. After analyzing and comparing the mentioned algorithms, it was found that the Madgwick filter is the best choice. The selected algorithm was implemented using a PSoC 6 microcontroller and an ICM-20948 sensor. The accelerometer, gyroscope, and AK09916 magnetometer measurements are read from the ICM-20948 sensor and then processed on a PSoC 6 microcontroller. The accelerometer, gyroscope, and magnetometer are calibrated on the PSoC 6 microcontroller. The processed sensor measurements are filtered through a Madgwick filter and thus we obtain data on the orientation of the sensor, more specifically the values of roll, pitch and yaw. The results of the AHRS implementation are displayed in the Data dashboard application.

• Keywords: AHRS; IMU; PSoC 6; Magdwickov filtar; ICM-20948; I2C komunikacija; UART komunikacija; MEMS; PSoC Creator; kalibracija
• Keywords (english): AHRS; IMU; PSoC 6; Magdwick filter; ICM-20948; I2C communication; UART communication; MEMS; PSoC Creator; calibration
• Language: croatian
• URN:NBN: urn:nbn:hr:168:925052
• 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: 2023-01-14 21:29:11