Układ akwizycji i archiwizacji parametrów ruchu układów mobilnych – metody matematyczne, filtry cyfrowe
e system of acquisition and archiving of motion parameters of mobile systems - mathematical methods, digital filters
Keywords:
Euler's angles, quartered, Kalman filter, Madgwick filter, complementary filter
Abstract
The work presents numerical methods and digital filters that enable correction of the measurement signal obtained during experimental tests of vehicle motion parameters. The inertial navigation measuring module used consists of three-axis accelerometers, gyroscopes made in MEMS technology and a magnetometer. The collected measurement data made it possible to refer them to a point in three-dimensional space in order to determine the trajectory of vehicle movement.
The article presents numerical methods of rotation of the local coordinate system to the global system and selected digital filters enabling smoothening the measurement signal in real time.
References
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2. Czyżewski T., Quaternions – Alternative For Euler Angles in Kinematic Analysis of Machine Mechanisms, Technical Transactions, 2-M/2015
3. Du J., Gerdtman C., Linden M., Signal Processing Algorithms for Position Measurement with MEMS-Based Accelerometer, 16th Nordic Baltic Conference on Biomedical Engineering, Gothenburg, 2014
4. Euston M., Coote P., Mahony R., Jonghyuk K., Hamel T., A Complementary Filter for Attitude Estimation of a Fixed-Wing UAV, ICoIRaS, Nicea, 2008, str. 340-345
5. Gucma M. Podstawy Morskiej Nawigacji Inercyjnej, Wyd. AM, Szczecin, 2006
6. Grygiel R., Bieda R., Wojciechowski K., Metody wyznaczania kątów z żyroskopów dla filtru komplementarnego na potrzeby określania orientacji IMU, Przegląd Elektrotechniczny, R.90 Nr 9/2014, str. 217-224
7. Higgins T. W., A Comparison of Complementary and Kalman Filtering, IEEE Transactions on Aerospace and Electronic Systems Vol. AES-11 NO.3, 1975
8. Horn K. P., Some Notes on Unit Quaternions and Rotation, 2011
9. Janota A., Šimák V., Improving the Precision and Speed of Euler Angles Computation from Low-Cost Rotation Sensor Data, Sensors, 2015, 15, 7016-7039
10. Kędziora K., Krzemień P., Wach W., Application of Accelerometer Sensors for the Measurements of Curvilinear Motion of Vehicle a Comparison of the Results of Simulation and Experiment, Ma-chine Dynamics Research Vol. 36 No.3, 2012, s. 45-52
11. Łuczak S., Pomiary odchylenia od pionu z użyciem akcelerometrów MEMS, Pomiary Automatyka Robotyka, 7-8/2008 str. 14-16
12. Madgwick S., An Efficient Orientation Filter for Inertial and Inertial/Magnetic sensor arrays, University of Bristol, 2010
13. Manuel O. S., IMU-based Trajectory Generation and Modeling of 6-DOFRobot Manipulators, ICoM EaAE, 2015, str. 181 - 186
14. Matzner F., Tracking of 3D Movement, praca magisterska, Uniwersytet Praski, Praga, 2014
15. Nota aplikacyjna, Using LSM303DLH for a tilt compensated electronic compass, AN3192
16. Roetenberg D., Inertial and Magnetic Sensing of Human Motion, Rozprawa Doktorska, Uniwersytet Twente, 2006
17. Roetenberg D., Luinge H., Baten M., Veltink P., Compensation of Magnetic Disturbances Improves Inertial and Magnetic Sensing of Human Body Segment Orientation, Transaction on Neural Systems and Rehabilitation Engineering, Vol. 13/3, VIII 2005, str. 395 – 405
18. Spong M., Hutchinson S., Vidyasagar M., Robot Dynamics and Control, 2004
19. Tseng S., Li W., Sheng C., Hsu J., Chen C., Motion and Attitude Estimation Using Inertial Measurements with Complementary Fil-ter, ASCC, Kaohsiung, 2011, str. 863-868
20. Wagli A., Skaloud J., Turning Point. Trajectory Analysis for Skiers, InsideGNSS, Spring 2007, str. 24-34
21. Wnuk M., Filtracja Komplementarna w inercyjnych czujnikach orientacji, Politechnika Wrocławska, Wrocław, 2014
22. Zakrzewski J., Kampik, M. Sensory i Przetworniki Pomiarowe, Wydawnictwo Politechniki Śląskiej, Gliwice, 2013
23. Zhi R., A Drift Eliminated Attitude & Position Estimation Algorithm In 3D, Graduate College Dissertations and Thesis, 2016
24. https://forbot.pl/blog/filtr-kalmana-teorii-praktyki-1-id2855
25. https://forbot.pl/blog/filtr-kalmana-w-praktyce-3-przyklady-z-kodami-id7342
26. http://blog.tkjelectronics.dk/2012/09/a-practical-approach-to-kalman-filter-and-how-to-implement-it/
Published
2019-02-25
Issue
Section
Eksploatacja i Testy/Exploitation and Tests
Copyright (c) 2019 Autobusy – Technika, Eksploatacja, Systemy Transportowe
This work is licensed under a Creative Commons Attribution 4.0 International License.
