Implementacija fuzije inercijskih senzora na ugradbenom računalnom sustavu

master's thesis

• Title (english): Implementation of inertial sensor fusion on embedded computer system
• Author: Ivan Dominić
• 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: 2021-02-26, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Cilj ovog diplomskog rada je implementirati Madgwickov filtar za određivanje orijentacije predmeta u prostoru na mikrokontroleru STM32F4. Filtru je potrebno davati informacije o akceleraciji tijela, kutnoj brzini te orijentaciji u odnosu na sjever što se postiže MARG sustavom. Za mjerenje ovih podataka su se koristili akcelerometar i žiroskop unutar sustava ICM-20948, te magnetometar AK09116 koji zajedno čine MARG. Filtar se implementira pomoću kvaterniona jer njihova aritmetika uvelike oslabljuje zahtjeve na snagu procesora koji su visoki u aritmetici sa rotacijskim matricama zbog kompleksnosti računanja trigonometrijskih funkcija koje koriste ostali filteri. Ovaj filtar također uspješno eliminira i klizanje žiroskopa te grešku deklinacije Zemljinog magnetskog polja. Za kalibraciju smetnji iz soft i hard iron izvora kod magnetometra, razvijena je vlastita metoda također temeljena na aritmetici s kvaternionima.

Abstract (english)

This thesis reviews implementation of Madgwick filter for determination of the orientation of given objects in space using STM32F4 microcontroller. The filter should be fed with information on body acceleration, angular velocity and orientation in relation to the north pole, which is achieved through the MARG system.
An accelerometer and gyroscope within the ICM-20948 system and an AK09116 magnetometer, which together form MARG, were used to measure this data.
The filter is implemented using quaternions because their arithmetic greatly reduces the computational power requirements of processors that are high in, for example, rotational matrix arithmetic due to the complexity of computing trigonometric functions which are used in other filters.
This filter also successfully eliminates the gyro drift errors and declination errors of the Earth's magnetic field. To calibrate interference from soft and hard iron sources in a magnetometer, proprietary method has also been developed based on quaternion arithmetic.

• Keywords: Madgwickov filtar; STM32F4; ICM-20948; Kvaternioni; orijentacija tijela; IMU; MARG
• Keywords (english): Madgwick filter; STM32F4; ICM-20948; Quaternions; body orientation; IMU; MARG
• Language: croatian
• URN:NBN: urn:nbn:hr:168:092497
• 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 09:06:30