Modeling and simulation of a navigation system with an IMU and a Magnetometer

Download

index.pdf

Date

2007

Author

Kayasal, Uğur

Metadata

Show full item record

Item Usage Stats

704
views

836
downloads

In this thesis, the integration of a MEMS based inertial measurement unit and a three axis solid state magnetometer are studied. It is a fact that unaided inertial navigation systems, especially low cost MEMS based navigation systems have a divergent behavior. Nowadays, many navigation systems use GPS aiding to improve the performance, but GPS may not be applicable in some cases. Also, GPS provides the position and velocity reference whereas the attitude information is extracted through estimation filters. An alternative reference source is a three axis magnetometer, which provides direct attitude measurements. In this study, error propagation equations of an inertial navigation system are derived; measurement equations of magnetometer for Kalman filtering are developed; the unique method to self align the MEMS navigation system is developed. In the motion estimation, the performance of the developed algorithms are compared using a GPS aided system and magnetometer aided system. Some experiments are conducted for self alignment algorithms.

Subject Keywords

Control Engineering Systems., Automatic Machinery (General).

URI

http://etd.lib.metu.edu.tr/upload/12608786/index.pdf
https://hdl.handle.net/11511/16974

Collections

Graduate School of Natural and Applied Sciences, Thesis

Suggestions

OpenMETU
Core

"High precision CNC motion control" Ay, Gökçe Mehmet; Dölen, Melik; Department of Mechanical Engineering (2004) This thesis focuses on the design of an electrical drive system for the purpose of high precision motion control. A modern electrical drive is usually equipped with a current regulated voltage source along with powerful motion controller system utilizing one or more micro-controllers and/or digital signal processors (DSPs). That is, the motor drive control is mostly performed by a dedicated digital-motion controller system. Such a motor drive mostly interfaces with its host processor via various serial comm...
Computer aided manufacturing (CAM) data generation for solid freeform fabrication Yarkınoğlu, Onur; Koku, Ahmet Buğra; Department of Mechanical Engineering (2007) Rapid prototyping (RP) is a set of fabrication technologies that are used to produce accurate parts directly from computer aided drawing (CAD) data. These technologies are unique in a way that they use an additive fabrication approach in which a three dimensional (3D) object is directly produced. In this thesis study, a RP application with a modular architecture is designed and implemented to satisfy the possible requirements of future rapid prototyping studies. After a functional classification, the develo...
Angular acceleration assisted stabilization of a-2 DOF gimbal platform Öztürk, Taha; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2010) In this thesis work construction of the angular acceleration signal of a 2-DOF gimbal platform and use of this signal for improving the stabilization performance is aimed. This topic can be divided into two subtopics, first being the construction of angular acceleration and the second being the use of this information in a way to improve system performance. Both problems should be tackled in order to get satisfactory results. The most important output of this work is defined as the demonstration of the impr...
Control system design for a haptic device Bideci, Süleyman; Konukseven, Erhan İlhan; Department of Mechanical Engineering (2007) In this thesis, development of a control system is aimed for a 1 DOF haptic device, namely Haptic Box. Besides, it is also constructed. Haptic devices are the manipulators that reflect the interaction forces with virtual or remote environments to its users. In order to reflect stiffness, damping and inertial forces on a haptic device position, velocity and acceleration measurements are required. The only motion sensor in the system is an incremental optical encoder attached to the back of the DC motor. The ...
A programmable control unit for industrial applications Güngör, Mustafa Kemal; Hızal, Mirzahan; Department of Electrical and Electronics Engineering (2003) In this thesis, the automation of the long term and cyclic processes by using a programmable control unit is aimed. To achieve this goal, timing relays and various microcontrollers are investigated. PIC microcontroller is chosen to implement the control unit due to its advantages like high speed, Harvard and RISC architecture, low cost and flexibility for programming. Theory of the PIC microcontrollers is studied and a controller unit to be used in the mentioned processes is designed. Some features are adde...

Citation Formats

U. Kayasal, “Modeling and simulation of a navigation system with an IMU and a Magnetometer,” M.S. - Master of Science, Middle East Technical University, 2007.