Abstract
Bu çalışmada, 6 Serbestlik Dereceli (DOF) Ataletsel Ölçüm Biriminin (IMU) Kalman Filtresi üzerinden uygulanması amaçlanmaktadır. Yüksek doğruluklu IMU birimleri, ilk uzay seyrüsefer uygulamalarından bu ana değin pratik kullanımda olmuştur. Günümüzde IMU'lara duyulan ihtiyaç hayatın her alanında yaygınlaşmıştır. IMU sensörleri çoğunlukla katı hal cihazlarıdır ve Mikro Elektromekanik Sistem (MEMS) teknolojileriyle üretilirler. Sensör gürültüsü ortadan kaldırılmalıdır. En popüler yöntem Kalman Filtresidir. Bu çalışmanın amacı, IMU kavramını daha iyi açıklamak ve nispeten karmaşık olan Kalman Filtrelemenin pratik bir uygulamasını yapmaktır. Bu çalışmada düşük maliyetli bir IMU MEMS sensörü seçilmiş ve hem tek hem de çok boyutlu çıktılar için Kalman Filtreleme uygulanmıştır. Adımlar, okuyucunun süreci daha iyi anlamasına yardımcı olmak için belirgin şekilde açıklanmıştır. Çalışma, gürültünün önemli olduğu diğer sensör sistemlerine kolaylıkla uyarlanabilir.
Keywords
References
- Yanbin Gao S. Li, Meng G., Wang G., Guan L., (2019), Accelerometer-Based Gyroscope Drift Compensation Approach in a Dual-Axial Stabilization Platform, MDPI Electronics Journal, 8, 1-12, https://doi.org/10.3390/electronics8050594
- MPU-6000/MPU-6050 Product Specification (2021, Aug 27), https://invensense.tdk.com/wp-content/uploads/2015 /02/MPU-6000-Datasheet1.pdf
- Ariffin N. H., Bais B., Arsad N., (2016, November 14-16), Low Cost MEMS Gyroscope and Accelerometer Implementation without Kalman Filter For Angle Estimation, Proceedings of the International Conference on Advances in Electrical, Electronic and System Engineering, Malaysia, 77-82, https://doi.org/10.1109/ICAEES.2016.7888013
- Okatan A., Aydemir M.E., (2007 June 14-16), Design and Implementation of a Precision Accelerometer by Recursive Filtering for Spacecraft Instrumentation, Proceedings of the 3rd International Conference on Recent Advances in Space Technologies, Turkey, 444-447, https://doi.org/10.1109/RAST.2007.4284030
- Oğuz A. E., Temeltaş H., (2013). On the Consistency Analyzing of A-SLAM for UAV Navigating in GNSS Denied Environment. Acta Polytechnica Hungarica, 10(4), 119-132., https://doi.org/10.12700/APH.10.04.2013.4.7.
Abstract
In this study, the implementation of a 6 Degree of Freedom (DOF) Inertial Measurement Unit (IMU) via the Kalman Filter is aimed. High accuracy IMU units have been in practical use since the first space navigation practices. Today, the need for IMU’s have been widespread among every aspect of life. The IMU sensors are mostly solid-state devices and are manufactured with Micro Electromechanical System (MEMS) technologies. The sensor noise has to be eliminated. The most popular method is the Kalman Filtering. The aim of this study is to better explain the IMU concept and make a practical implementation of the Kalman Filtering which is somehow complicated. In this study, a low cost IMU MEMS sensor has been selected and Kalman Filtering has been applied for both one and multi-dimensional outputs. The steps are explicitly explained to help the reader better understand the process. The study may be easily tailored to other sensor systems where noise is a concern.
Keywords
References
- Yanbin Gao S. Li, Meng G., Wang G., Guan L., (2019), Accelerometer-Based Gyroscope Drift Compensation Approach in a Dual-Axial Stabilization Platform, MDPI Electronics Journal, 8, 1-12, https://doi.org/10.3390/electronics8050594
- MPU-6000/MPU-6050 Product Specification (2021, Aug 27), https://invensense.tdk.com/wp-content/uploads/2015 /02/MPU-6000-Datasheet1.pdf
- Ariffin N. H., Bais B., Arsad N., (2016, November 14-16), Low Cost MEMS Gyroscope and Accelerometer Implementation without Kalman Filter For Angle Estimation, Proceedings of the International Conference on Advances in Electrical, Electronic and System Engineering, Malaysia, 77-82, https://doi.org/10.1109/ICAEES.2016.7888013
- Okatan A., Aydemir M.E., (2007 June 14-16), Design and Implementation of a Precision Accelerometer by Recursive Filtering for Spacecraft Instrumentation, Proceedings of the 3rd International Conference on Recent Advances in Space Technologies, Turkey, 444-447, https://doi.org/10.1109/RAST.2007.4284030
- Oğuz A. E., Temeltaş H., (2013). On the Consistency Analyzing of A-SLAM for UAV Navigating in GNSS Denied Environment. Acta Polytechnica Hungarica, 10(4), 119-132., https://doi.org/10.12700/APH.10.04.2013.4.7.
Details
| Primary Language | English |
|---|---|
| Subjects | Engineering |
| Journal Section | Articles |
| Authors | |
| Publication Date | December 31, 2021 |
| Published in Issue | Year 2021 |