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undergraduate thesis
Određivanje položaja inercijskim sustavom ADIS 16305
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2015. urn:nbn:hr:168:883740
Špikić, Dorijan
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Špikić, D. (2015). Određivanje položaja inercijskim sustavom ADIS 16305 (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:883740

Špikić, Dorijan. "Određivanje položaja inercijskim sustavom ADIS 16305." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2015. https://urn.nsk.hr/urn:nbn:hr:168:883740

Špikić, Dorijan. "Određivanje položaja inercijskim sustavom ADIS 16305." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2015. https://urn.nsk.hr/urn:nbn:hr:168:883740

Špikić, D. (2015). 'Određivanje položaja inercijskim sustavom ADIS 16305', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 25 June 2024, https://urn.nsk.hr/urn:nbn:hr:168:883740

Špikić D. Određivanje položaja inercijskim sustavom ADIS 16305 [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2015 [cited 2024 June 25] Available at: https://urn.nsk.hr/urn:nbn:hr:168:883740

D. Špikić, "Određivanje položaja inercijskim sustavom ADIS 16305", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2015. Available at: https://urn.nsk.hr/urn:nbn:hr:168:883740

Metadata
TitleOdređivanje položaja inercijskim sustavom ADIS 16305
Title (english)Position determination using inertial system ADIS 16305
AuthorDorijan Špikić
MentorDarko Vasić (mentor)
Committee memberDarko Vasić (predsjednik povjerenstva)
Committee memberVedran Bilas (član povjerenstva)
Committee memberDinko Oletić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2015-07-02, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Sustav ADIS 16305 sastoji se od troosnog akcelerometra i jednoosnog žiroskopa što mu daje 4 stupnja slobode. Prijeđeni put se računa integracijom izmjerene akceleracije i kutne brzine tijela. Kut rotacije tijela računa se integriranjem kutne brzine oko osi rotacije. Integracijom podataka akumulira se pogreška u određivanju položaja. Algoritam detekcijom stanja mirovanja postavlja izračunatu brzinu u stvarnu brzinu koja je jednaka nuli, čime se brišu akumulirane greške. Zbog nedostatka mogućnosti mjerenja kutne brzine oko preostale dvije osi, mjerenja je moguće izvesti samo u dvodimenzionalnom prostoru. Za određivanje položaja u 3 dimenzije potreban je inercijski sustav s troosnim žiroskopom zbog mogućnosti određivanja orijentacije osi akcelerometra i kompenzacije mjerene akceleracije Zemljine sile teže. Za preciznije određivanje položaja inercijski sustav treba koristiti u kombinaciji s nekom drugom metodom određivanja položaja.
Abstract (english)
ADIS 16305 is inertial measurement unit with 4 degrees of freedom with 3 axis accelerometer and 1 axis gyroscope. Position is determined by double integration of measured accelerometer data. Rotation angle is calculated by integrating angular velocity which is measured with gyroscope. Integration of data accumulates errors over time. Algorithm is based on detection of resting state. When resting state is detected calculated velocity is reset to zero which removes accumulated errors. Gyroscope measures angular velocity around one axis so we can't detect angle around X and Y axis. Because of that, measurements can be made only in two dimensional space. Position determination in three dimensional space requires three axial gyroscope so we can determine orientation of accelerometer axis and compensate acceleration of Earth's gravity. If we want to get more accurate results then we should use inertial measurement system in combination with other position determination methods.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:883740
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
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File originBorn digital
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Created on2018-02-06 07:25:33