Određivanje i vizualizacija pozicije objekata u prostoru korištenjem akcelerometara

undergraduate thesis

• Title (english): Determining and visualizing the position of objects in space using accelerometers
• Author: Robert Medvedec
• Mentor: Igor Čavrak (mentor)
• Committee member: Igor Čavrak (predsjednik povjerenstva)
• Committee member: Branimir Pervan (član povjerenstva)
• Committee member: Emanuel Guberović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2020-07-06, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

U ovom radu proučena je i objašnjena problematika korištenja IMU-a koji sadrži senzore akcelerometra i žiroskopa za određivanje pozicije i orijentacije objekata.
Rad počinje uvodnim dijelom, koji detaljno objašnjava princip rada i vrste akcelerometara i žiroskopa, kao i njihove glavne karakteristike. Objašnjena su i područja upotrebe pojedinih tipova senzora te limitacije svakog od njih.

U središnjem dijelu rada predstavljeni su i istraženi problemi limitirane preciznosti senzora. Kao glavni uzročnici problema prepoznati su šumovi te gimbal lock. Šumovi u signalima stalna su pojava te su u radu predstavljeni kroz niz mjerenja na dva različita senzora.
Pojašnjena je i pojava gimbal locka kod korištenja Eulerovih kuteva, kako ga izbjeći te kako unatoč njihovim limitima uspješno koristiti sustav u kojem se na taj način računa orijentacija objekta.
Predstavljeni su i načini rješavanja navedenih problema kao što su kalibracija i kvaternioni, a detaljnije je obrađena tema smanjivanja šumova kroz niskopropusne, komplementarne i Kalmanove filtere.
Na primjerima je objašnjena integracija navedenih filtera i uspoređena njihova efikasnost.

Pri samome kraju rada korišteni su svi obrađeni dijelovi za određivanje rotacije i pozicije objekta u 3D prostoru koristeći akcelerometar i žiroskop.

Za simuliranje i testiranje korišten je senzor IMU MPU-6050 tvrtke InvenSense te software MATLAB.

Abstract (english)

In this work lies an explanation of the general concept and common problems of using IMUs with accelerometer and gyroscopic sensors for determining position and orientation of the objects.
The work begins with the introductory part, which presents the details the basics of accelerometers and gyroscopes, as well as existing types and their characteristics. Fields of use and limitations of the specific sensor types have been explained as well.

In the main part of the work, the most common problems regarding the limitations of such sensors have been explored. Both noise and the gimbal lock have been recognized as the main problems. Noises in signals are a common feature and they have been demonstrated through measurements on two different types of sensors. Explanation about gimbal lock while using Euler angles is present as well as how to determine orientation while avoiding this limitation.

The most common ways of how to deal with these issues have also been presented, most notably calibration and quaternions. Furthermore, it is shown how to remove noises while using low-pass, complementary, and Kalman filters.
The integration process and comparison of the filters has been shown using real-life examples.

Near the end of the work, all of the previous parts have been used to determine rotation and position of the object in 3D space while using accelerometer and gyroscope.

For simulations and testing, IMU MPU-6050 by InvenSense is used. MATLAB is used as software support.

• Keywords: akcelerometar; žiroskop; IMU; gimbal; senzor; šum; signal; orijentacija; pozicija
• Keywords (english): accelerometer; gyroscope; IMU; gimbal; sensor; noise; signal; orientation; position
• Language: croatian
• URN:NBN: urn:nbn:hr:168:161155
• Study programme: Title: Computing; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-14 21:10:10