20.500.12556/DKUM-60400 Zlivanje podatkov iz pospeškometra, magnetometra in žiroskopa Data fusion using accelerometer, magnetometer and gyroscope Zaradi motenj, ki jih ima signal mikroelektro-mehanskih senzorjev, pri obdelavi njihovih podatkov, pogosto uporabljamo metodo filtriranja imenovano zlivanje podatkov. V tem diplomskem delu je opisano, kako z zlivanjem podatkov s kalmanovim filtrom pridobiti orientacijske kote iz pospeškometra, magnetometra in žiroskopa. Na podlagi modela senzorja v prostoru stanj, bo na digitalni signalni krmilnik implementiran rekurzivni kalmanov filter, v obliki programske kode v C jeziku. Cilj je analizirati vpliv posameznih parametrov na končni, filtriran signal. Določitev parametrov bo potekala eksperimentalno. Glavni cilj je, nastaviti parametre filtra, tako da imajo podatki o orientacijskem kotu čim manj motenj, so bolj robustni ter pripravljeni za nadaljnjo obdelavo. For signal processing, due to errors that occur in the measured signal of microelectromechanical systems, method called sensor fusion is used. In this bachelor’s thesis, we explain, how to measure orientation from accelerometer, magnetometer and gyroscope, using sensor fusion method called Kalman filter. Based on sensors state space model, recursive Kalman filter in C code is implemented on digital signal controller. The objective is to analyze impact of covariance matrix on final result. The main objective is calibrating filter and finding the optimal parameters, so that final result of orientation angle has least measurement errors and is useful in further signal processing. zlivanje podakov kalmanov filter določitev orientacije v prostoru odpravljanje motenj sensor fusion Kalman filter orientation measurement in space reduction of measurement error true true false [N. Prosen] Slovenski jezik Angleški jezik Delo diplomskega projekta/projektno delo 2016-06-17 12:56:44 2017-03-22 11:20:14 2022-06-23 03:10:31 2019-07-11 11:45:10 2016 0 Maribor 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 621.3 20403478 URN:SI:UM:DK:YYCPCEAP UN_Prosen_Natasa_2016.pdf UN_Prosen_Natasa_2016.pdf 1 C1E5FB8A20BAAC7F5F8D258808383B40 fb145716abee6c0be0a785107c65473b5a5e9dda4423880a783f4716477742e4 bb7a71cc-7c0c-11eb-bb7a-00155d0001ca https://dk.um.si/Dokument.php?lang=slv&id=94882 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0