Fuzija Senzora i Kalmanov Filter

master's thesis

• Title (english): Sensor Fusion and the Kalman Filter
• Author: Fabijan Džapo
• Mentor: Mervan Pašić (mentor)
• Committee member: Mervan Pašić (predsjednik povjerenstva)
• Committee member: Tomislav Burić (član povjerenstva)
• Committee member: Mario Krnić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2022-07-06, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

Ovaj rad razmatra problematiku procjene putanje vozila koristeći fuziju senzora, specifično algoritam kalmanovog filtera. Osim što razmatramo kalmanov filter koji predstavlja srce rada, također razmatramo i pomoćni algoritam madwickovog filtera za procjenu orijentacije i druge metode otklanjanja šuma i filtriranja očitanja iz senzora poput IMU-a i GPS-a. Konačno ovaj rad pokriva kako implementirati jedan takav algoritam na android sustavu.

Abstract (english)

This paper attempts to solve the problem of trajectory estimation using sensor fusion algorithms, specifically the kalman filter algorithm. Alongside the kalman filter which acts as the centerpiece, this paper will consider auxiliary algorithms such as the madgwick filter for estimating orientation and other methods of noise elimination from sensors such as the IMU and GPS. Finally the paper will cover how to implement such an algorithm on an android device.

• Keywords: Fuzija Senzora; Kalmanov Filter
• Keywords (english): Sensor Fusion; Kalman Filter
• Language: croatian
• URN:NBN: urn:nbn:hr:168:558553
• Study programme: Title: Computing; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka računarstva (magistar/magistra inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-14 08:44:15