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Abstract(s)
O desenvolvimento da tecnologia tem sido uma constante nos tempos modernos. Os sistemas de navegação e posicionamento não foram exceção à regra. Com o surgimento dos MEMS (Micro-Electro-Mechanical Systems) tornou-se possível reduzir o tamanho e o custo destes sistemas. A integração de sistemas inerciais MEMS e GPS (INS/GPS) tem permitido criar soluções de posicionamento e navegação low-cost. Esta tecnologia tornou-se tão acessível que, se há alguns anos atrás, apenas faziam parte de sistemas de ponta, hoje em dia estão presentes, por exemplo, em quase todos os smartphones existentes. Este trabalho pretende utilizar um Filtro de Kalman (FK) capaz de fundir dados provenientes de um sensor inercial MEMS para criar uma solução de medição de atitude low-cost, de modo a que possa ser aplicada em embarcações à vela de pequenas dimensões. Devido ás suas dimensões e custos, torna-se pouco viável instalar sistemas de navegação convencionais em embarcações de pequenas dimensões como tal, este trabalho pretende dar uma resposta a este problema. Conclui-se que os valores da aceleração registas pelo acelerómetro nos eixos XX e YY tinham bastante ruído, mas o FK conseguiu suavizar estes valores e ainda estimar os valores da velocidade e deslocamento ao longo deste eixo. Conclui-se ainda, que a MPU 6050, por não possuir magnetómetro, não é a escolha mais indicada para integrar um sistema de medição de atitude.
The development of technology has been a constant in modern times. Navigation and positioning systems were no exception to the rule. With the emergence of MEMS (Micro-Electro-Mechanical Systems) it has become possible to reduce the size and cost of these systems. The integration of MEMS and GPS (INS / GPS) inertial systems has allowed the creation of low-cost navigation and positioning solutions. This technology has become so accessible that, if a few years ago, they were only part of high end systems, nowadays they are present, for example, in almost all existing smartphones. This work intends to use a Kalman Filter (FK) capable of fusing data from a MEMS inertial sensor to create a low-cost attitude measurement solution, so that it can be applied to small sailboats. Due to its dimensions and costs, it is not feasible to install conventional navigation systems in small boats as such, this work intends to give an answer to this problem. It is concluded that the acceleration values recorded by the accelerometer in the XX and YY axes had a lot of noise, but the FK managed to smooth these values and still estimate the velocity and displacement values along this axis. It is also concluded that the MPU 6050, because it does not have a magnetometer, is not the best choice to integrate an attitude measurement system.
The development of technology has been a constant in modern times. Navigation and positioning systems were no exception to the rule. With the emergence of MEMS (Micro-Electro-Mechanical Systems) it has become possible to reduce the size and cost of these systems. The integration of MEMS and GPS (INS / GPS) inertial systems has allowed the creation of low-cost navigation and positioning solutions. This technology has become so accessible that, if a few years ago, they were only part of high end systems, nowadays they are present, for example, in almost all existing smartphones. This work intends to use a Kalman Filter (FK) capable of fusing data from a MEMS inertial sensor to create a low-cost attitude measurement solution, so that it can be applied to small sailboats. Due to its dimensions and costs, it is not feasible to install conventional navigation systems in small boats as such, this work intends to give an answer to this problem. It is concluded that the acceleration values recorded by the accelerometer in the XX and YY axes had a lot of noise, but the FK managed to smooth these values and still estimate the velocity and displacement values along this axis. It is also concluded that the MPU 6050, because it does not have a magnetometer, is not the best choice to integrate an attitude measurement system.
Description
Keywords
Filtro de Kalman Navegação Inercial MPU Arduino Vela Ligeira Medição de Atitude Kalman Filter Inertial Navigation Arduino Small Sailboats Attitude Reference System