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MEMS Inertial Sensor
Mihaľko, Juraj ; Rášo, Peter (referee) ; Beneš, Petr (advisor)
The aim of this master’s thesis is to describe the basic measurement methods of micro-electromechanical inertial sensor, their physical principles and errors. Measurement of inertial sensors is very important for the parameterization of their errors and their subsequent mathematical model by which it is possible to minimize the measurement error impact on inertial navigation. The practical part is dedicated to create automated measurement setup for measurement stability of the offset. Hardware and software from National Instruments is used in measurement chain. The work is next focused on measuring seven inertial sensors based on three different physical principles. In addition to creating measurement setup, we also defined three inertial sensor parameters, describing theoretical behavior of the sensor output.
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Two-axis Stabilized Aerial Photography Platform
Vácha, Lukáš ; Hasmanda, Martin (referee) ; Strašil, Ivo (advisor)
This diploma thesis deals with design and realization of control board with controlling program for stabilization platform application. Thesis is splitted in to six parts. In first part of thesis are summarized required parameters and properties of proposed system together with explanation of necessary theoretical basics. In second part of thesis is made analysis of sensors which are designated for sensing necessary magnitudes. Namely then magnetometer, accelerometer, gyroscope. For every sensor is there made analysis of influence caused by parasitic effects. In conclusion of second part is made choice of concrete sensors by choosing sensory module. Third part deals with conception of mechanical solution. Fourth part of thesis deals with design and construction of control board and also with description of circuit functional blocks. This is followed with fifth part which describing program equipment of board with setting up sensory module. In last part of thesis are described conclusions of testing.
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Quadrocopter - Sensory Subsytem
Bradáč, František ; Šolc, František (referee) ; Žalud, Luděk (advisor)
This diploma thesis deals with processing of measured data from inertial navigation system in order these could be used for stabilization. There is general information about aerial vehicles called copters with emphasis on four-rotor construction called quadrocopter at first. Then mathematical model of quadrocopter in state space form is derived, the particular implementation of university developed quadrocopter is described and the design of data processing algorithm is presented with measured results. Finally achieved results are discussed.
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Flight statements electronic sensor.
Harant, Josef ; Fedra, Zbyněk (referee) ; Šebesta, Jiří (advisor)
This diploma thesis deals with theoretical analysis, design and practical solution of flight statements electronic sensor. This device is primarily intended for measuring telemetry data during aerobatic flights. Theoretical part contains fundamentals of GPS and inertial navigation systems. Design of the device is divided into three parts - design of block structure, construction and software for the measuring device. The final realization is made with respect to minimal system requirements and to possible future extensibility for wider usage spectrum.
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Rotation sensors in robotics
Javorček, Martin ; Skula, David (referee) ; Žalud, Luděk (advisor)
The goal of this paper is to suggest suitable method for angle measuring of mobile robot. There are being analyzed 3 different sensors – gyroscope, accelerometer and electronic compass in the prologue. Their advantages and disadvantages in the theoretical way are being explained in this part and also their opportunities of use in the practical way. In the following parts the work is focused on MEMS gyroscopes and their opportunities of use in the practical way with regard to achievable exactness and to the application for development of its exactness. The application of device together with main SW for microcontroller and the valuation of achievable exactness and determined facts are being described in the conclusion part.
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Data-fusion for Rotation Measurement
Skula, David ; Kopečný, Lukáš (referee) ; Žalud, Luděk (advisor)
The goal of this paper is to design and implement a module to determine the rotation around three axes normal to each other. The paper is divided into six parts. The first part deals with the rate sensor - the gyroscope. It is explicated how the gyroscope is used for rotation measurement. The next part of the paper explains the acceleration sensor – the accelerometer, functioning as an inclination sensor. The third part analyses the magnetic field sensor – the magnetometer, functioning as an electronic compass. With each type of sensor, the problems of parasitic influences are discussed. The foregoing parts constitute the basis for the HW of the module design that is explained in the forth parts. It deals especially with components used for processing the sensor signals. The next part is a description of the software of the module. Here, the software of the particular sensors and measurement methods used with them are discussed. The last part describes the software of the control application in the computer. The attention is paid especially to processing data from the sensors and their compensation against parasitic influences.
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Inclinometers and Gyroscopes
Hývnarová, Irena ; Beneš, Petr (referee) ; Havránek, Zdeněk (advisor)
This study deals with tilt sensors. Besides others methods, accelerometers and gyroscopes are also convenient to solve this problem. Tilt sensors which are described in this thesis are working with capacitive, piezoresistive and thermal method. Capacitive accelerometers from producer Analog Devices, STmicro and Freescale, piezoresistive accelerometers from producer Panasonic Matsushita and gyroscope ADXRS300 are tested by practical measurement. Parameters of these accelerometers are found and they are compared with parameters from producer. Measurement reliability in this study is analysed as well. This thesis is divided in chapters theoretically describing principles of particular accelerometers and the chapters containing measured data evaluation.
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Use 8x8 LED Matrix and MEMS Sensor for Promotional Purposes
Středa, Jakub ; Matyáš, Pavel (referee) ; Zuth, Daniel (advisor)
The main objective of this bachelor thesis is to create exemplary application for promotional purposes. It means using of a microcontroller ATmega32A, a MEMS acceleration and angular velocity sensor and a LED matrix with a driver.. In the theoretical part the thesis is focused on the characteristics of used components, their features and way of control. Subsequently, the thesis deals with a power supply, design and manufacture of a printed circuit board for microcontroller and the last part of the thesis is focused on a microcontroller's software and manufacture of a casing.
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Control system of exploration flying robot design and realization
Šnajder, Patrik ; Zuth, Daniel (referee) ; Marada, Tomáš (advisor)
This bachelor’s thesis describes wide range of multirotors systems and to become familiar with mlutirotors flying systems as well as the design and practical implementation of the control system. The control system should be in the air to determine the tilt and rotation of multicpter and thus ensure it‘s stabilization. Introduction to the electronic componentes necessary to fly multirotors. Practiacal measurement of actuators and for this purpose to create experimental apparatus.
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