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Reference TypeThesis
Identifier8JMKD3MGP8W/34RU7UB
Repositorysid.inpe.br/mtc-m18@80/2009/03.03.15.06   (restricted access)
Metadatasid.inpe.br/mtc-m18@80/2009/03.03.15.06.24
Sitemtc-m16c.sid.inpe.br
Secondary KeyINPE-15763-TDI/1506
Holder Codeisadg {BR SPINPE} ibi 8JMKD3MGPCW/3DT298S
Citation KeyEinwoegerer:2009:MeCeNa
AuthorEinwoegerer, Walter
GroupCMC-SPG-INPE-MCT-BR
TitleMecanização de central de navegação inercial com dados a partir da integração de IMU MEMS e receptor GPS
Year2009
CommitteeGuedes, Ulisses Thadeu Vieira Guedes (presidente)
Kuga, Hélio Koiti (orientador)
Milani, paulo Giácomo (orientador)
Souza, Marcelo Lopes Oliveira e
Hasegawa, Julio Kiyoshi
Date2009-03-27
Alternate TitleInertial navigation mechanization through the intergration of an IMU MEMS and a GPS receiver.
UniversityInstituto Nacional de Pesquisas Espaciais (INPE)
CitySão José dos Campos
KeywordsUnidade de Medida Inercial (UMI), Micro Electro-Mechanical System (MEMS), Global Positioning System (GPS), Filtro de Kalman Sigma-Ponto (FKSP), Central de Navegação Inercial (CNI), Inertial Measurement Unit (UMI), Micro Electro-Mechanical System (MEMS), Global Positionig System (GPS), Unscented Kalman Filter (UKF), Inertial Navigation System (INS).
AbstractEsta dissertação visa apresentar um procedimento de integração das informações de aceleração e taxa angular de uma Unidade de Medida Inercial (UMI) de baixo custo, com tecnologia Micro Electro-Mechanical System (MEMS) às medidas de posição e velocidade obtidas de um receptor GPS. Para tal detalham-se as equações diferenciais que foram utilizadas para integrar o movimento e a atitude de um sistema móvel na configuração solidária à plataforma (strapdown); os procedimentos de alinhamento dessa mesma UMI MEMS em um simulador dinâmico servo-assistido de precisão de 3 eixos para análise de desempenho nas condições estática e semi-dinâmica; a forma de obtenção dos parâmetros para a calibração da UMI através de algoritmo apropriado utilizando o método da filtragem estocástica de Kalman Sigma-Ponto, verificando seu desempenho e comparando resultados. Na seqüência, descrevem-se os resultados obtidos da integração de medidas da UMI a um receptor GPS em condições dinâmicas. O algoritmo baseado no Filtro de Kalman Sigma-Ponto foi desenvolvido para aplicação à navegação a fim de realizar a fusão das informações de posição e velocidade via GPS e as coordenadas calculadas através da UMI. ABSTRACT: The proposal of this work is to present a procedure for integration of the acceleration and angular rate measurements of a low cost Inertial Measurement Unit (IMU) based on MEMS (Micro Electro-Mechanical System) technology with position and speed data from a GPS receiver. Then, it details the equations that have been used to integrate the movement and the attitude of a system in strapdown configuration, the alignment procedures of a IMU MEMS in a precision 3 axis servo table for the analysis of the static and semi-dynamic conditions, the way to obtain the IMU calibration through appropriate algorithm using the method of the Sigma-Point Kalman filter, verifying its performance and comparing results. After it also describes the results using the IMU and GPS simultaneously in dynamic conditions. A Sigma-Point Kalman Filter algorithm was developed for navigation application in order to execute the fusion of the GPS position and speed information with the coordinates calculated from the IMU.
Number of Pages142
Languagept
Thesis TypeDissertação (Mestrado em Mecânica Espacial e Controle)
Secondary TypeTDI
DisseminationNTRSNASA; BNDEPOSITOLEGAL.
AreaETES
CourseCMC-SPG-INPE-MCT-BR
Size16143 KiB
Number of Files446
Target Filepublicacao.pdf
Last Update2009:06.30.15.33.16 sid.inpe.br/mtc-m18@80/2008/03.17.15.17 sergio
Metadata Last Update2020:04.28.17.48.25 sid.inpe.br/mtc-m18@80/2008/03.17.15.17 administrator {D 2009}
Document Stagecompleted
Is the master or a copy?is the master
Mirrorsid.inpe.br/mtc-m18@80/2008/03.17.15.17.24
e-Mail Addressweinwoegerer@gmail.com
e-Mail (login)simone
User Groupadministrator camila jefferson viveca@sid.inpe.br weinwoegerer@gmail.com yolanda.souza@mcti.gov.br
Copy HolderSID/SCD
Visibilityshown
Transferable1
Host Collectionsid.inpe.br/mtc-m18@80/2008/03.17.15.17
Document Stagenot transferred
Read Permissiondeny from all and allow from 150.163
Next Higher Units8JMKD3MGPCW/3F2UALS
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Originais/Dissertação Walter Einwoegerer 270509.doc 27/05/2009 14:49 19.2 MiB
PDF/@4primeirasPaginas-13.pdf 02/06/2009 14:00 159.2 KiB 
PDF/banca-walter0001.pdf 25/06/2009 14:29 18.6 KiB 
PDF/Dissertação Walter Einwoegerer 270509.pdf 27/05/2009 14:48 1.3 MiB
publicacao.pdf 26/06/2009 08:50 1.5 MiB
agreement Directory Contentthere are no files
History2009-03-03 15:06:25 :: weinwoegerer@gmail.com -> yolanda ::
2009-03-10 19:06:18 :: yolanda -> supervisor ::
2009-06-22 12:32:16 :: supervisor -> jefferson ::
2009-07-06 20:18:24 :: jefferson -> administrator ::
2009-07-06 20:19:46 :: administrator -> banon ::
2009-07-06 20:19:58 :: banon -> administrator ::
2009-07-07 16:14:20 :: administrator -> jefferson ::
2009-07-08 14:08:40 :: jefferson -> camila ::
2009-07-08 14:21:56 :: camila -> viveca@sid.inpe.br ::
2009-07-08 18:58:06 :: viveca@sid.inpe.br -> jefferson ::
2009-07-08 19:07:52 :: jefferson -> administrator ::
2019-12-19 18:12:23 :: administrator -> sergio :: 2009
2019-12-30 13:38:47 :: sergio -> administrator :: 2009
2020-04-28 17:48:25 :: administrator -> simone :: 2009
Empty Fieldsacademicdepartment affiliation archivingpolicy archivist callnumber contenttype copyright creatorhistory descriptionlevel doi electronicmailaddress format isbn issn label lineage mark nextedition notes number orcid parameterlist parentrepositories previousedition previouslowerunit progress readergroup resumeid rightsholder secondarydate secondarymark session shorttitle sponsor subject tertiarymark tertiarytype url versiontype
Access Date2020, Aug. 08
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