|
|
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.
|
|
|
Optimal state estimation of a navigation model system
Papež, Milan ; Havlena, Vladimír (referee) ; Dokoupil, Jakub (advisor)
This thesis presents an investigation of the possibility of using the fixed-point arithmetic in the inertial navigation systems, which use the local level navigation frame mechanization equations. Two square root filtering methods, the Potter's square root Kalman filter and UD factorized Kalman filter, are compared with respect to the conventional Kalman filter and its Joseph's stabilized form. The effect of rounding errors to the Kalman filter optimality and the covariance matrix or its factors conditioning is evaluated for a various lengths of the fractional part of the fixed-point computational word. Main contribution of this research lies in an evaluation of the minimal fixed-point arithmetic word length for the Phi-angle error model with noise statistics which correspond to the tactical grade inertial measurements units.
|
|
|
Outdoor Mobile Robot Self-localisation
Sárközy, Gabriel ; Jílek, Tomáš (referee) ; Žalud, Luděk (advisor)
The aim of this work was to create a self-localization unit. The basis of the unit is an electronic platform Netduino Plus, which is connected with a measurement unit MTi-G and a camera based sensor, which is able to detect the position of points on the schools testing polygon. Configuration of the measurement unit MTi-G was done by a modified previously developed program. The program of the platform uses lover level communication with the sensor without using predefined classes from the manufacturer. This should improve the speed of processing the data from the sensor. To check the accuracy of the position provided by the self-localization unit another program was created. This program receives messages form a more accurate localization system that is mounted to the robot. The localization system is based on Trimble DB982 receiving modules.
|
|
|
Position sensors with AVR microcontroller
Haltuf, Martin ; Burian, František (referee) ; Žalud, Luděk (advisor)
The Bachelor thesis deals with possibilities of measurement of location by inertial navigation method. There are described varieties of sensors, which use this method. Large attention is paid to angular speed of gyroscope. In study the characterization of AVR microcontroller of Atmel Company is given. The ATmega microcontroller AVR series is used design of simple device for measurement of localization of mobile robot by the digital Analog Device gyroscope.
|
|
| |
|
|
Tracking of 3D Movement
Matzner, Filip ; Barták, Roman (advisor) ; Obdržálek, David (referee)
In this thesis, we propose and evaluate a method for tracking short-term move- ment and orientation of a device using only its on-board sensors - accelerometer, gyroscope and magnetometer. A straightforward method of motion tracking is described from the theoretical perspective and afterwards transformed into a practical algorithm. To improve its performance, we enhance the method with a stabilization system, which corrects the bias caused by sensor inaccuracies every time the device stands still. The effectiveness of the proposed method and the merits of the enhancement are evaluated in several experiments with two mo- bile devices. Furthermore, a complete software solution is included, which allows experimentation with smartphone sensors in a user friendly interface. 1
|
|
|
Position sensors with AVR microcontroller
Haltuf, Martin ; Burian, František (referee) ; Žalud, Luděk (advisor)
The Bachelor thesis deals with possibilities of measurement of location by inertial navigation method. There are described varieties of sensors, which use this method. Large attention is paid to angular speed of gyroscope. In study the characterization of AVR microcontroller of Atmel Company is given. The ATmega microcontroller AVR series is used design of simple device for measurement of localization of mobile robot by the digital Analog Device gyroscope.
|
|
|
Optimal state estimation of a navigation model system
Papež, Milan ; Havlena, Vladimír (referee) ; Dokoupil, Jakub (advisor)
This thesis presents an investigation of the possibility of using the fixed-point arithmetic in the inertial navigation systems, which use the local level navigation frame mechanization equations. Two square root filtering methods, the Potter's square root Kalman filter and UD factorized Kalman filter, are compared with respect to the conventional Kalman filter and its Joseph's stabilized form. The effect of rounding errors to the Kalman filter optimality and the covariance matrix or its factors conditioning is evaluated for a various lengths of the fractional part of the fixed-point computational word. Main contribution of this research lies in an evaluation of the minimal fixed-point arithmetic word length for the Phi-angle error model with noise statistics which correspond to the tactical grade inertial measurements units.
|
|
|
Outdoor Mobile Robot Self-localisation
Sárközy, Gabriel ; Jílek, Tomáš (referee) ; Žalud, Luděk (advisor)
The aim of this work was to create a self-localization unit. The basis of the unit is an electronic platform Netduino Plus, which is connected with a measurement unit MTi-G and a camera based sensor, which is able to detect the position of points on the schools testing polygon. Configuration of the measurement unit MTi-G was done by a modified previously developed program. The program of the platform uses lover level communication with the sensor without using predefined classes from the manufacturer. This should improve the speed of processing the data from the sensor. To check the accuracy of the position provided by the self-localization unit another program was created. This program receives messages form a more accurate localization system that is mounted to the robot. The localization system is based on Trimble DB982 receiving modules.
|
|
|
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.
|
guest ::
