Estimacija položaja i orijentacije senzorskog čvora fuzijom podataka inercijskih i magnetskih senzora tijekom čovjekovog gibanja

master's thesis

• Title (english): Position and Orientation Estimation of the Sensor Node Using Fusion of Inertial and Magnetic Sensors During Human Motion
• Author: Katarina Silov-Tepić
• Mentor: Ratko Magjarević (mentor)
• Committee member: Ratko Magjarević (predsjednik povjerenstva)
• Committee member: Igor Lacković (član povjerenstva)
• Committee member: Tomislav Petković (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2020-07-16, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Uz pomoć optičkih i neoptičkih sustava snimljeni su različiti ljudski pokreti. Optički sustav se sastoji od više kamera i markera i daje informaciju o položaju i orijentaciji. Neoptički sustav korišten u radu je Shimmer3 koji se sastoji od akcelerometra, žiroskopa i magnetometra. Podaci sa senzora su obrađivani pomoću programskog alata Matlab. Implementirani su Mahonyev, Madgwickov i prošireni Kalmanov filtar pomoću kojih dobivamo podatke o položaju i orijentaciji. Optički i neoptički sustavi su uspoređeni pomoću korijena srednje kvadratne pogreške (RMSE).

Abstract (english)

With optical and non optical systems, various human movements were recorded. The optical systems consists of multiple cameras and markers and provides informations of position and orientation. A non optical system used in work is Shimmer3 consisting of accelerometer, gyroscope and magnetometer. The data from sensor were processed using the Matlab software tool. Mahony, Madgwick and Kalaman filters were implemented to obtain information about orientation and position. Optical and non optical systems were compared using the root mean square error (RMSE).

• Keywords: inercijski i magnetski senzori; Optitrack; Matlab; Mahony; Madgwick; Kalman; orijentacija
• Keywords (english): inertial and magnetic sensors; Optitrack; Matlab; Mahony; Madgwick; Kalman; orientation
• Language: croatian
• URN:NBN: urn:nbn:hr:168:084440
• 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 13:47:08