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master's thesis
Fuzija senzora s primjenom na lokalizaciju u prostoru
2022. urn:nbn:hr:179:274645
Jerković, Mladen
University of Split
Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture
Department of Electronics and Computing

Cite this document

Jerković, M. (2022). Fuzija senzora s primjenom na lokalizaciju u prostoru (Master's thesis). Split: University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:179:274645

Jerković, Mladen. "Fuzija senzora s primjenom na lokalizaciju u prostoru." Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, 2022. https://urn.nsk.hr/urn:nbn:hr:179:274645

Jerković, Mladen. "Fuzija senzora s primjenom na lokalizaciju u prostoru." Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, 2022. https://urn.nsk.hr/urn:nbn:hr:179:274645

Jerković, M. (2022). 'Fuzija senzora s primjenom na lokalizaciju u prostoru', Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, accessed 25 April 2024, https://urn.nsk.hr/urn:nbn:hr:179:274645

Jerković M. Fuzija senzora s primjenom na lokalizaciju u prostoru [Master's thesis]. Split: University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture; 2022 [cited 2024 April 25] Available at: https://urn.nsk.hr/urn:nbn:hr:179:274645

M. Jerković, "Fuzija senzora s primjenom na lokalizaciju u prostoru", Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, Split, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:179:274645

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Metadata
TitleFuzija senzora s primjenom na lokalizaciju u prostoru
Title (english)Sensor fusion with application to localization
AuthorMladen Jerković
MentorAna Kuzmanić Skelin https://orcid.org/0000-0002-0702-1678 (mentor)
GranterUniversity of Split
Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture
(Department of Electronics and Computing)
Split
Defense date and country2022-09-21, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Basic Technical Sciences
Automatics
Abstract
U diplomskom radu su najprije opisane i objašnjene značajke lokalizacije u prostoru i tehnologije koje koristi. Opisane su vrste senzora i problema lokalizacije u automobilskoj industriji. Poseban osvrt dat je značajkama i principima rada GPS-a i IMU-a te općenito fuzije senzora. Također je pobliže objašnjen prošireni Kalmanov filter i njegove faze predikcije, ispravljanja i ažuriranja. Nakon toga detaljno je objašnjen kod i značajke koda korištenog u simulaciji. Zatim je uspostavljeno simulacijsko okruženje u MATLAB-u na osnovu čijih rezultata su određene značajke i doneseni zaključci o Kalmanovom filtru, kao i o samostalnom radu GPS senzora, te fuzije sa IMU senzorom. Dokazano je da što mjerenja duže traju, da Kalmanov filtar ima više podataka na osnovu kojih mu je lakše predvidjeti i izračunati putanju objekta. Pa tako pogreške orijentacije i položaja opadaju s vremenom. Očekivano, pogreške položaja i orijentacije su manje kada GPS senzor radi u fuziji sa IMU senzorom nego kada je sam, budući da je IMU senzor orijentacijski senzor koji je jako bitan kod kretanja objekta između prepreka.
Abstract (english)
The master thesis first describes and explains the features of localization in space and the technologies it uses. It describes types of sensors and localization problems in the automotive industry. A special review is given to the features and working principles of GPS and IMU and sensor fusion in general. The extended Kalman filter and its prediction, correction and update phases are also explained in more detail. After that, the code and features of the code used in the simulation are explained in detail. Then, a simulation environment is established in MATLAB, based on the results of which features were determined and conclusions were drawn about the Kalman filter, as well as about the independent operation of the GPS sensor, and the fusion with the IMU sensor. It has been shown that the longer the measurements last, the more data the Kalman filter has, based on which it is easier to predict and calculate the trajectory of the object. Thus, orientation and position errors decrease over time. As expected, the position and orientation errors are smaller when the GPS sensor works in fusion with the IMU sensor than when it is alone. That’s because the IMU sensor is an orientation sensor that is very important when object is moving between obstacles.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:179:274645
Study programmeTitle: Systems and Control
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka automatike i sustava (magistar/magistra inženjer/inženjerka automatike i sustava)
Type of resourceText
File originBorn digital
Access conditionsAccess restricted to authenticated users
Terms of useLicence In copyright icon
Created on2023-05-18 09:43:46