Ekstrinzično umjeravanje sustava više sonara

undergraduate thesis

• Title (english): Extrinsic calibration of a multiple sonar system
• Author: Sandro Margeta
• Mentor: Ivan Marković (mentor)
• Committee member: Ivan Marković (predsjednik povjerenstva)
• Committee member: Borna Bićanić (član povjerenstva)
• Committee member: Luka Petrović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2020-07-03, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Rad se bazira na trodimenzionalnom Toposens TS3 ultrazvučnom senzoru. Opisana su važna fizikalna načela ultrazvučnih valova i način rada senzora. Objašnjena je programska podloga na kojoj radi korišteni senzor i dane su upute za konfiguraciju pojedinog senzora. Razrađen je plan umjeravanja dva senzora, te se po tome planu razvilo programsko rješenje za ekstrinzično umjeravanje sonara implementirano u programskom jeziku Python pod Robotskim operacijskom sustavom. Na kraju su provedeni eksperimenti koji su pokazali učinkovitost programa za umjeravanje i preciznost korištenih senzora.

Abstract (english)

The final thesis is based on a three-dimensional Toposens TS3 ultrasonic sensor. Important physical principles of ultrasonic waves and the physics of sensors are described. The software of the used sensor is explained and the instructions for the sensor configuration are given. A calibration plan for two sensors was worked out and a program solution for extrinsic sonar calibration was implemented in the Python programming language under the Robotic Operating System, according to the prior plan. Finally, experiments were conducted that demonstrated the effectiveness of the calibration program and the accuracy of the used sensors.

• Keywords: Ekstrinzično umjeravanje; ultrazvučni senzor; sonar; SVD
• Keywords (english): Extrinsic calibration; ultrasonic sensor; sonar; SVD
• Language: croatian
• URN:NBN: urn:nbn:hr:168:869573
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-14 21:04:41