Navigacija bespilotne letjelice na temelju magnetskog polja

master's thesis

• Title (english): Unmanned aerial vehicle navigation based on magnetic field
• Author: Matko Batoš
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (član povjerenstva)
• Committee member: Goran Vasiljević (član povjerenstva)
• Committee member: Tamara Petrović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2022-07-11, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Navigacija bespilotne letjelice pomoću magnetskog polja u blizini energetskih vo-
diča može biti od velike koristi za brojne buduće tehničke primjene. U ovom radu
predstavljen je razvoj sustava navigacije bespilotne letjelice na temelju mjerenja mag-
netskog polja koje generiraju energetski vodiči kroz koje protječe izmjenična struja.
Tijekom navigacije bespilotne letjelice magnetski senzori su izloženi velikom magnet-
skom šumu, no usprkos tome, bespilotna letjelica ima mogućnost održavanja unaprijed
zadanog relativnog položaja u odnosu na jedan energetski vodič te mogućnost praće-
nja istog na zadanoj udaljenosti. Sustav je testiran u simulacijskom i u laboratorijskom
okruženju, a za programsku podršku i obradu podataka korišteni su ROS platforma,
Gazebo simulator i MATLAB.

Abstract (english)

Navigation of a UAV using magnetic fields near power lines can be a great benefit
to various future technical applications. This thesis presents development of a UAV
navigation system based on magnetic field measurements generated by power lines
through which alternating current flows. During the navigation of a UAV, magnetic
sensors are exposed to a large magnetic noise, but nevertheless, the UAV has the ability
to maintain a predetermined relative position relative to one power line and the ability
to follow it at a given distance. The system was tested in a simulation and laboratory
environment. ROS platform, Gazebo simulator and MATLAB were used for software
support and data processing.

• Keywords: navigacija pomoću magnetskih polja; energetski vodiči; bespilotne letjelice
• Keywords (english): magnetic field navigation; power lines; unmanned aerial vehicles
• Language: croatian
• URN:NBN: urn:nbn:hr:168:446829
• 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 08:26:59