Divu brīvības pakāpju savienojumu noteikšana ar inerciālajiem sensoriem

6533b853fe1ef96bd12ad94e

RESEARCH PRODUCT

Divu brīvības pakāpju savienojumu noteikšana ar inerciālajiem sensoriem

Kristiāns Križmanis

subject

Inerciālie sensori kvaternioni Kalman filtri orientācijas Fizika mehāniskie savienojumi

description

Inerciālie sensori ir plaši izmantoti, lai no to datiem aprēķinātu un aprakstītu fizikālu objektu orientācijas. Lai iegūtu orientāciju, kam nav laikā uzkrājoša kļūda, papildus bieži lieto magnētiskā lauka sensorus, kuru mērījumi reālās situācijas mēdz būt trokšņaini. Darbā ir izstrādāts algoritms, kas spēj izmantot inerciālā sensora datus un informāciju par mehānisko sistēmu, lai aprakstītu divu ķermeņu relatīvo orientāciju, neizmantojot magnētiskā lauka sensorus. Ir izveidota eksperimentālā sistēma, kur izstrādātais algoritms salīdzināts ar pieeju, kas lieto komerciālus inerciālo sensoru mezglus, kas izmanto magnētiskā lauka sensorus. Eksperimentos noteiktā algoritma kļūda ir 7.52o, BNO055 sensoru kļūda 15.74o. Izstrādātais algoritms tiek lietots SIA ”HackMotion” ražotajās sensora sistēmās.

year	journal	country	edition	language
2022-01-01

https://dspace.lu.lv/dspace/handle/7/60139

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