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master's thesis
Implementacija AHRS algoritma na PSoC mikrokontroleru
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. urn:nbn:hr:168:925052
Preglej, Josip
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Preglej, J. (2022). Implementacija AHRS algoritma na PSoC mikrokontroleru (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:925052

Preglej, Josip. "Implementacija AHRS algoritma na PSoC mikrokontroleru." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:925052

Preglej, Josip. "Implementacija AHRS algoritma na PSoC mikrokontroleru." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:925052

Preglej, J. (2022). 'Implementacija AHRS algoritma na PSoC mikrokontroleru', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 20 May 2024, https://urn.nsk.hr/urn:nbn:hr:168:925052

Preglej J. Implementacija AHRS algoritma na PSoC mikrokontroleru [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2022 [cited 2024 May 20] Available at: https://urn.nsk.hr/urn:nbn:hr:168:925052

J. Preglej, "Implementacija AHRS algoritma na PSoC mikrokontroleru", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:168:925052

Metadata
TitleImplementacija AHRS algoritma na PSoC mikrokontroleru
Title (english)Implementation of AHRS Algorithm Using PSoC Microcontroller
AuthorJosip Preglej
MentorMario Cifrek (mentor)
Committee memberMario Cifrek (predsjednik povjerenstva)
Committee memberHrvoje Džapo (član povjerenstva)
Committee memberŽeljka Lučev Vasić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2022-07-08, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U ovom Diplomskom radu rečeno je što je to AHRS i predstavljeni su AHRS algoritmi koji su dostupni u otvorenom pristupu. Nakon što je sprovedena analiza i usporedba spomenutih algoritama, zaključeno je da je Madgwickov filtar najbolji izbor. Odabrani algoritam implementiran je pomoću PSoC 6 mikrokontrolera i senzora ICM 20948. Sa senzora ICM 20948 očitavaju se mjerenja akcelerometra, žiroskopa i magnetometra AK09916 te zatim obrađuju na PSoC 6 mikrokontroleru. Na PSoC 6 mikrokontroleru vrši se kalibracija akcelerometra i žiroskopa te magnetometra. Obrađena mjerenja senzora filtriraju se Madgwickovim filtrom i tako dobivamo podatak o orijentaciji senzora, točnije vrijednosti valjanja, propinjanja i skretanja. Rezultati implementacije AHRS prikazuju se u aplikaciji Data dashboard.
Abstract (english)
This thesis explains what AHRS is and presents the available open source AHRS algorithms. After analyzing and comparing the mentioned algorithms, it was found that the Madgwick filter is the best choice. The selected algorithm was implemented using a PSoC 6 microcontroller and an ICM-20948 sensor. The accelerometer, gyroscope, and AK09916 magnetometer measurements are read from the ICM-20948 sensor and then processed on a PSoC 6 microcontroller. The accelerometer, gyroscope, and magnetometer are calibrated on the PSoC 6 microcontroller. The processed sensor measurements are filtered through a Madgwick filter and thus we obtain data on the orientation of the sensor, more specifically the values of roll, pitch and yaw. The results of the AHRS implementation are displayed in the Data dashboard application.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:925052
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2023-01-14 21:29:11