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Inertial Navigation Unit
Dvořák, Jan ; Hubík,, Vladimír (referee) ; Šebesta, Jiří (advisor)
This thesis is focused on the design and realisation of inertial navigation unit INS. The unit is capable to measure, store and send data to a PC in real-time for a later offline processing. The first part of the thesis introduces the reader with the basic principles of accelerometers, gyroscopes and MEMS sensors. An introduction to coordinate systems and measuring errors is also included. The second and third part of the thesis deals with the analysis of the solution and the implementation of the INS unit. The fourth part of the document is dedicated to the software for the INS unit. This thesis concludes with explanation how the gathered data are processed.
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Design and Implementation of Algorithms for Compensating the Effect of Linear Acceleration on Angular Velocity Measurements by MEMS Gyroscopes
Spáčil, Tomáš ; Luczak, Sergiusz (referee) ; Hnidka, Jakub (referee) ; Grepl, Robert (advisor)
Tato Disertační práce se zabývá vývojem nového typu dopředného kompenzátoru, speciálně určeného k potlačení vlivu lineárního zrychlení a ryvu působícího na MEMS gyroskopické senzory. Z principu funkce inerciálního snímače, dochází při umístění gyroskopického senzoru mimo osu rotace k vzniku dalších nežádoucích sil (normálové a tečné), které negativně ovlivňují měření žádané úhlové rychlosti. Přítomnost těchto sil je však možno měřit nezávislým senzorem, akcelerometrem, a vhodným způsobem kompenzovat výstupní hodnotu gyroskopického senzoru a tím zpřesnit nepřímo měřenou hodnotu úhlové rychlosti. V první části práce identifikujeme vliv zmíněných zrychlení na MEMS gyroskopy, v drůhé části práce pak navrhneme a otestujeme různé kompenzátory, vyhodnotíme jejich efektivitu a v třetí části vhodný algoritmus implementujeme na RT HW.
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Inertial Navigation Unit
Dvořák, Jan ; Hubík,, Vladimír (referee) ; Šebesta, Jiří (advisor)
This thesis is focused on the design and realisation of inertial navigation unit INS. The unit is capable to measure, store and send data to a PC in real-time for a later offline processing. The first part of the thesis introduces the reader with the basic principles of accelerometers, gyroscopes and MEMS sensors. An introduction to coordinate systems and measuring errors is also included. The second and third part of the thesis deals with the analysis of the solution and the implementation of the INS unit. The fourth part of the document is dedicated to the software for the INS unit. This thesis concludes with explanation how the gathered data are processed.
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Inertial Navigation Unit
Dvořák, Jan ; Hubík,, Vladimír (referee) ; Šebesta, Jiří (advisor)
This thesis is focused on the design and realisation of inertial navigation unit INS. The unit is capable to measure, store and send data to a PC in real-time for a later offline processing. The first part of the thesis introduces the reader with the basic principles of accelerometers, gyroscopes and MEMS sensors. An introduction to coordinate systems and measuring errors is also included. The second and third part of the thesis deals with the analysis of the solution and the implementation of the INS unit. The fourth part of the document is dedicated to the software for the INS unit. This thesis concludes with explanation how the gathered data are processed.
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