Publication: ANÁLISIS DE USABILIDAD DE IMUS EN APLICACIONES INDUSTRIALES IMPLEMENTACIÓN EN NAVEGACIÓN Y MAPEO
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Date
2016
Authors
CALLENDER GUERRERO, GONZALO SEBASTIÁN
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Abstract
Una IMU es un dispositivo que est´a compuesto por m´ultiples sensores inerciales,entre los que destacan aceler´ometros y gir´oscopos. Este documento presenta un estudio del uso de tres tipos de IMU en el ´area de navegaci´on, principalmente terrestre. Los sensores son de diferentes fabricantes, tales como VectorNav y Microstrain, mientras que el tercer dispositivo es un Ardupilot, de la familia Arduino.En teor´ia, uno de estos sensores es suficiente para obtener la posici´on global y orientaci´on de alg´un cuerpo, gracias al procesamiento de los datos de aceleraci´on yvelocidad angular. Esta propuesta es analizada experimentalmente utilizando diferentesm´etodos de procesamiento para reducir el error de medici´on, como por ejemplo unfiltro de media m´ovil y filtro de Kalman.Luego del procesamiento de datos, se realizan pruebas de movimiento, obteniendocomo conclusi´on que no es posible utilizar ´unicamente estos sensores para localizar un cuerpo en el espacio, por lo cual, una IMU por s´i sola no es suficiente para realizaruna navegaci´on exitosa.
An IMU is a device formed by multiples inertial sensors, including accelerometersand gyroscopes. This document exhibit an analysis of the use of three IMU in the areaof navigation, principally ground navigation. The sensors are from different manufacturers,such as VectorNav and Microstrain, while that the third device is an Ardupilot,from Arduino family.In theory, an of these sensors is sufficient for obtain the global position and orientationof any object, processing the acceleration and angular velocity data. This approachis analysed experimentally using different methods of processing for reducethe measurement error, for example a simple moving average filter and Kalman filter.Then of the data processing, are performed movement tests, obtaining as conclusionthat is not possible utilize only these sensors for localize a object in the space,therefore an IMU by itself is not sufficient for realize a successful navigation.
An IMU is a device formed by multiples inertial sensors, including accelerometersand gyroscopes. This document exhibit an analysis of the use of three IMU in the areaof navigation, principally ground navigation. The sensors are from different manufacturers,such as VectorNav and Microstrain, while that the third device is an Ardupilot,from Arduino family.In theory, an of these sensors is sufficient for obtain the global position and orientationof any object, processing the acceleration and angular velocity data. This approachis analysed experimentally using different methods of processing for reducethe measurement error, for example a simple moving average filter and Kalman filter.Then of the data processing, are performed movement tests, obtaining as conclusionthat is not possible utilize only these sensors for localize a object in the space,therefore an IMU by itself is not sufficient for realize a successful navigation.
Description
Catalogado desde la version PDF de la tesis.
Keywords
IMU , MAPEO , NAVEGACION , ORIENTACION , POSICION