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master's thesis
Algebarske metode estimacije stanja autonomne letjelice primjenom akcelerometra
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2018. urn:nbn:hr:235:644428
Markučič, Joško
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Institutional repository: Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb

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Markučič, J. (2018). Algebarske metode estimacije stanja autonomne letjelice primjenom akcelerometra (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:644428

Markučič, Joško. "Algebarske metode estimacije stanja autonomne letjelice primjenom akcelerometra." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2018. https://urn.nsk.hr/urn:nbn:hr:235:644428

Markučič, Joško. "Algebarske metode estimacije stanja autonomne letjelice primjenom akcelerometra." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2018. https://urn.nsk.hr/urn:nbn:hr:235:644428

Markučič, J. (2018). 'Algebarske metode estimacije stanja autonomne letjelice primjenom akcelerometra', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 20 May 2024, https://urn.nsk.hr/urn:nbn:hr:235:644428

Markučič J. Algebarske metode estimacije stanja autonomne letjelice primjenom akcelerometra [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2018 [cited 2024 May 20] Available at: https://urn.nsk.hr/urn:nbn:hr:235:644428

J. Markučič, "Algebarske metode estimacije stanja autonomne letjelice primjenom akcelerometra", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:235:644428

Metadata
TitleAlgebarske metode estimacije stanja autonomne letjelice primjenom akcelerometra
Title (english)Algebraic methods for state estimation of unmanned aerial vehicles by using accelerometer
AuthorJoško Markučič
MentorJosip Kasać (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2018-07-12, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U ovom radu razmatrana je primjena algebarskih metoda estimacije stanja autonomne letjelice primjenom akcelerometra s ciljem sinteze regulacijskog sustava letjelice. Algebarske metode omogućuju robusnu identifikaciju parametara i estimaciju stanja sustava u realnom vremenu te predstavljaju potencijalnu alternativu konvencionalnom asimptotskom pristupu estimaciji varijabli stanja sustava. Algebarske metode estimacije primjenjene su na linearizirani model potpuno upravljive letjelice sa šest zakrenutih rotora, koji omogućuje potpuno decentralizirano upravljanje po svakom stupnju slobode gibanja letjelice. Pretpostavka je da je početna pozicija letjelice u ishodištu inercijalnog sustava te da postoji nepoznata konstantna pogreška mjerenja akceleracije. Korištena je konvencionalna algebarska metoda te metoda frekvencijskog pomaka za dobivanje izraza za algebarsku estimaciju drifta akcelerometra dok je za usporedbu s asimptotskom metodom korišten robusni kompenzator drifta akcelerometra.
Abstract (english)
This thesis discusses application of algebraic estimation methods of autonomous aircraft by using accelerometer with the aim of forming the aircraft control system. Algebraic methods enable robust parameter identification and real-time system estimation which represent a potential alternative to a conventional asymptotic approach to system state estimation. Algebraic estimation methods were applied to a linearized model of a fully actuated aircraft with six passively tiled rotors, which allows for a fully decentralized control of each aircraft degree of freedom. The assumption is that the initial position of the aircraft is at the origin of the inertial system and that tere is an unkown constant error in acceleration measurement. A conventional algebraic method and a frequency shift method were used to obtain expressions for algebraic accelerometer drift estimation, while for comparison with the asymptotic method a robust compensator of accelerometer drift was used.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:644428
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2019-05-22 22:33:15