20.500.12556/DKUM-39438 Reševanje problemov navigacije s Kalmanovim filtrom Solving of navigation problems with Kalman filter Navigacija, sledenje, daljinsko vodenje in usmerjanje so danes najpomembnejši elementi, ki prispevajo k učinkovitem vodenju »just in time« logističnih sistemov, pri katerih se vedno bolj kaže potreba po natančni in časovno neprekinjeni navigaciji. Možnosti optimalnega in sinhronega upravljanja je več, med njimi je zlasti pomembna uporaba Kalmanovega filtriranja podatkov, prejetih iz globalnega določanja položaja in inercialnih meritev. V raziskovalnem delu obravnavamo enostaven model Kalmanovega filtra v navigacijskih sistemih, s katerim smo prikazali reševanje problema v zvezi z manjkajočo informacijo. Predstavljen je splošen teoretični del kreiranja sistema, podana so temeljna izhodišča za združevanje senzorjev v sistemih navigacije in izpeljan je tudi Kalmanov algoritem, ki je apliciran na primeru uporabe pri sledenju ladje. S stališča sledenja smo ocenili nov položaj ladje in napoved, kje se bo ladja nahajala v naslednjih trenutkih. Kalmanov filter se je pri združevanju meritev iz globalnega določevanja položaja in inercialnih meritev izkazal za učinkovitega, saj na osnovi predstavljenega algoritma dosegamo bistveno boljše napovedi sledenja objekta v primerjavi z ostalimi modeliranimi metodami. Navigation, tracking, remote control and guidance of different types of vehicles are nowadays very important issues which can essentially contribute to the efficient control of "just in time" logistics systems, where the need for accurate and continuous-time navigation is increasingly growing. There are many possibilities of more or less optimal and simultaneous control of vehicles movements. One of the most important approaches to achieve this is the usage of so-called Kalman filtering of data received from the global positioning and inertial measurement. In this thesis, we are dealing with a simple Kalman filter model in navigation systems, which can be used even in such situations, when the lack of important tracking information appear. General theoretical part of developing of Kalman filter model is introduced, basic starting points for sensors integration in the navigation systems are also presented and the Kalman’s algorithm, which is applied to the example with ship navigation, is adopted. From the view point of the tracking, the new position and velocity of the ship and the prediction of the ship’s location in the future time moments is evaluated. When dealing with the sensors integration of the GPS/INS measurements, it turned out that the Kalman filter achieved the best results of forecasting of ship movements of tracking object, when compared with some other forecasting methods. navigacija Kalmanov filter sledenje globalno določanje položaja inercialne meritve navigation Kalman filter tracking global positioning inertial measurement true true false [I. Gerčer] Slovenski jezik Angleški jezik Magistrsko delo/naloga 2013-01-15 08:52:57 2013-01-15 08:57:38 2022-05-12 22:57:04 2021-04-19 03:24:18 2012 0 Celje 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 681.5.015.44:656.017.21(043.2) 512483133 URN:SI:UM:DK:E9IOYOLR Gercer_Iztok_MAG.pdf Gercer_Iztok_MAG.pdf 1 D279056AFC4FA2DB884DB1B5020CB2CB 6eec17c7662aca211967b0b1b724f39d732540dc08751a97a0a98a2410074db1 220b774b-7c09-11eb-bb7a-00155d0001ca 20.500.12556/dkum/22ef582a-24eb-4d17-a8a4-a6f7856e8d28 https://dk.um.si/Dokument.php?lang=slv&id=53325 Fakulteta za logistiko 0 0 0