Sustav za ispitivanje senzora pomaka

master's thesis

• Title (english): System for Displacement Sensors Testing
• Author: Matej Ferenčević
• Mentor: Hrvoje Džapo (mentor)
• Committee member: Hrvoje Džapo (predsjednik povjerenstva)
• Committee member: Darko Vasić (član povjerenstva)
• Committee member: Željka Lučev Vasić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2019-07-12, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U radu su opisane glavne značajke globalnih navigacijskih sustava (GNSS) i inercijskih navigacijskih sustava (INS). Razmotreni su načini dobivanja pozicije korištenjem obje vrste sustava te je razmotrena njihova preciznost. Kod GNSS sustava opisan je način određivanja pozicije korištenjem RTK mjerenja s dva GNSS prijemnika koji omogućuju bolju preciznost određene pozicije. Kod INS sustava razmotren je način kompenzacije snimljenih signala te mogućnost korištenja fuzije nekoliko senzora kako bi se povećala preciznost određene pozicije. U radu je razvijen sustav za pomicanje senzora prema korisnički zadanom eksperimentu kako bi se provjerila svojstva navigacijskih senzora. Sustav kao ulazne podatke prima željenu poziciju pomičnog dijela sustava u određenom trenutku. Razvijeni su algoritmi za pretvorbu zadanih pozicija u impulse koji pokreću koračni motor pomičnog dijela sustava. Tijekom izvršavanja eksperimenta sustav simultano prikuplja RTK mjerenja (korištenjem biblioteke RTKLIB i dva GNSS prijemnika) i podatke s akcelerometra. Analizirana je točnost generiranja izračunatih impulsa i točnost pomaka pomičnog dijela sustava. U obje analize dokazano je da je sustav dovoljno točan za ispitivanje senzora pomaka. Prikazani su rezultati triju mjerenja. Dane su upute za korištenje razvijene programske podrške.

Abstract (english)

The paper describes the main characteristics of global navigation systems (GNSS) and inertial navigation systems (INS). Methods of measuring position using both types of systems were considered and their precision was analyzed. For GNSS systems RTK position measurements that use two GNSS receivers to provide better precision for the calculated position were described. For INS systems a method to compensate recorded signals was considered and the possibility of using sensor fusion algorithms to increase the precision of the calculated position. In the thesis a system that enables physical movement of sensors according to a user specified experiment to allow measurement of sensor characteristics was developed. The system input is a set of user specified time-varying positions for the movable part of the system. Algorithms that convert user specified positions into impulses that drive the stepper motor of the movable part of the system were developed. During experiment runtime the system simultaneously records RTK measurements (using the RTKLIB library and two GNSS receivers) and accelerometer data. Accuracy of generated impulses and position accuracy of the movable part of the system was experimentally verified and analyzed. The analysis yielded that the system is accurate enough to serve as a test bed for considered displacement sensors. Results from three measurements were presented. Instructions on how to use the developed software were given.

• Keywords: senzori pomaka; GNSS; RTK; INS; STM32; eksperiment
• Keywords (english): displacement sensors; GNSS; RTK; INS; STM32; experiment
• Language: croatian
• URN:NBN: urn:nbn:hr:168:942692
• 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: 2020-01-07 17:52:50