Método automático de calibração de IMU baseado no filtro de Kalman
Autor(a) principal: | |
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Data de Publicação: | 2021 |
Tipo de documento: | Dissertação |
Idioma: | por |
Título da fonte: | Repositório Institucional da UFSCAR |
Texto Completo: | https://repositorio.ufscar.br/handle/ufscar/15823 |
Resumo: | IMUs are widely used in applications that require position and attitude measurements. And with the production of low-cost IMUs, it has been possible to expand this use beyond military and high-cost applications, reaching consumer devices such as cell phones, wearable technologies, physical exercise and rehabilitation equipment. But every IMU needs to be calibrated for use and therefore, in addition to the sensor, there is the cost of calibration. Existing calibration methods are either proprietary to the manufacturers, or they are expensive and require specific equipment and laboratories, or they use non-optimal methods of parameter estimation. This work proposes the systematization of low cost calibration methods, with simple execution performed by the user and that provides optimized results closer to those achieved by high cost calibration methods. The data capture process is based on a multi-position method that does not require extra equipment, besides the sensor and computer itself. The experiments were executed with three commercial IMUs, one high-cost calibrated by the manufacturer, used as a reference, and two low-cost, uncalibrated. The raw accelerometer reading of each IMU was calibrated using the four forms of the Kalman filter developed in this work and the errors obtained were evaluated by comparing the high cost IMU and the calibration with the estimated parameters, showing the good performance of the methods. |
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Diegues, DanielInoue, Roberto Santoshttp://lattes.cnpq.br/6221209121565990Nogueira, Samuel Lourençohttp://lattes.cnpq.br/2287847504423307http://lattes.cnpq.br/878715800549123670eff16d-6233-4254-8d6d-ab320fad336d2022-04-07T17:38:08Z2022-04-07T17:38:08Z2021-12-17DIEGUES, Daniel. Método automático de calibração de IMU baseado no filtro de Kalman. 2021. Dissertação (Mestrado em Engenharia Elétrica) – Universidade Federal de São Carlos, São Carlos, 2021. Disponível em: https://repositorio.ufscar.br/handle/ufscar/15823.https://repositorio.ufscar.br/handle/ufscar/15823IMUs are widely used in applications that require position and attitude measurements. And with the production of low-cost IMUs, it has been possible to expand this use beyond military and high-cost applications, reaching consumer devices such as cell phones, wearable technologies, physical exercise and rehabilitation equipment. But every IMU needs to be calibrated for use and therefore, in addition to the sensor, there is the cost of calibration. Existing calibration methods are either proprietary to the manufacturers, or they are expensive and require specific equipment and laboratories, or they use non-optimal methods of parameter estimation. This work proposes the systematization of low cost calibration methods, with simple execution performed by the user and that provides optimized results closer to those achieved by high cost calibration methods. The data capture process is based on a multi-position method that does not require extra equipment, besides the sensor and computer itself. The experiments were executed with three commercial IMUs, one high-cost calibrated by the manufacturer, used as a reference, and two low-cost, uncalibrated. The raw accelerometer reading of each IMU was calibrated using the four forms of the Kalman filter developed in this work and the errors obtained were evaluated by comparing the high cost IMU and the calibration with the estimated parameters, showing the good performance of the methods.As IMUs são largamente utilizadas em aplicações que exigem medidas de posição e atitude. E com a produção de IMUs de baixo custo, tem sido possível expandir essa utilização para além de aplicações militares e de alto custo, atingindo dispositivos de consumo como celulares, tecnologias vestíveis, equipamentos de exercícios físicos e reabilitação. Porém toda IMU precisa ser calibrada para o uso e, portanto, além do sensor, existe o custo de calibração. Os métodos de calibração existentes, ou são de propriedade dos fabricantes, ou são de alto custo e exigem equipamentos e laboratórios específicos, ou ainda utilizam métodos não ótimos de estimativa de parâmetros. Neste trabalho é proposto a sistematização de métodos de calibração de baixo custo, com execução simples realizada pelo usuário e que forneça resultados otimizados mais próximos dos alcançados por métodos de calibração de alto custo. O processo de captura dos dados é baseado em um método de multi-posição que para ser executado não exige equipamentos extras, além do próprio sensor e computador. Foram realizados experimentos com três IMUs comerciais, uma de alto custo calibrada pelo fabricante, utilizada como referência e duas de baixo custo, não calibradas. A leitura bruta do acelerômetro de cada IMU foi calibrada utilizando as quatro formas do filtro de Kalman desenvolvidos neste trabalho e avaliado os erros obtidos comparando, a IMU de alto custo e a calibração com os parâmetros estimados, mostrando o bom desempenho dos métodos.Não recebi financiamentoporUniversidade Federal de São CarlosCâmpus São CarlosPrograma de Pós-Graduação em Engenharia Elétrica - PPGEEUFSCarAttribution-NonCommercial-NoDerivs 3.0 Brazilhttp://creativecommons.org/licenses/by-nc-nd/3.0/br/info:eu-repo/semantics/openAccessIMUFiltro de KalmanCalibraçãoKalman FilterCalibrationENGENHARIAS::ENGENHARIA ELETRICA::MEDIDAS ELETRICAS, MAGNETICAS E ELETRONICAS; INSTRUMENTACAOMétodo automático de calibração de IMU baseado no filtro de KalmanAutomatic IMU calibration method based on Kalman filterinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesis6006008e35bea9-d02a-42f3-a4c3-a40159edd944reponame:Repositório Institucional da UFSCARinstname:Universidade Federal de São Carlos (UFSCAR)instacron:UFSCARORIGINALDissertação de Mestrado - Daniel Diegues.pdfDissertação de Mestrado - Daniel Diegues.pdfapplication/pdf8762641https://repositorio.ufscar.br/bitstream/ufscar/15823/6/Disserta%c3%a7%c3%a3o%20de%20Mestrado%20-%20Daniel%20Diegues.pdf217fe35122c86c0d23286ce17ae9f159MD56Carta à BCo - Daniel Diegues.pdfCarta à BCo - Daniel Diegues.pdfapplication/pdf185106https://repositorio.ufscar.br/bitstream/ufscar/15823/5/Carta%20%c3%a0%20BCo%20-%20Daniel%20Diegues.pdfd88a05adb563a22663c7386749e8e7d9MD55CC-LICENSElicense_rdflicense_rdfapplication/rdf+xml; charset=utf-8811https://repositorio.ufscar.br/bitstream/ufscar/15823/7/license_rdfe39d27027a6cc9cb039ad269a5db8e34MD57TEXTDissertação de Mestrado - Daniel Diegues.pdf.txtDissertação de Mestrado - Daniel Diegues.pdf.txtExtracted texttext/plain79280https://repositorio.ufscar.br/bitstream/ufscar/15823/8/Disserta%c3%a7%c3%a3o%20de%20Mestrado%20-%20Daniel%20Diegues.pdf.txtd5be67c2c8963e74a9bf26350c4502c6MD58Carta à BCo - Daniel Diegues.pdf.txtCarta à BCo - Daniel Diegues.pdf.txtExtracted texttext/plain1463https://repositorio.ufscar.br/bitstream/ufscar/15823/10/Carta%20%c3%a0%20BCo%20-%20Daniel%20Diegues.pdf.txtc3b6307c0a170a2441cdafa6ba6a4691MD510THUMBNAILDissertação de Mestrado - Daniel Diegues.pdf.jpgDissertação de Mestrado - Daniel Diegues.pdf.jpgIM Thumbnailimage/jpeg4154https://repositorio.ufscar.br/bitstream/ufscar/15823/9/Disserta%c3%a7%c3%a3o%20de%20Mestrado%20-%20Daniel%20Diegues.pdf.jpgb2753e506824ec01041bc57016dd572bMD59Carta à BCo - Daniel Diegues.pdf.jpgCarta à BCo - Daniel Diegues.pdf.jpgIM Thumbnailimage/jpeg14851https://repositorio.ufscar.br/bitstream/ufscar/15823/11/Carta%20%c3%a0%20BCo%20-%20Daniel%20Diegues.pdf.jpg72d5fbc94ed453d71a6816f34f072926MD511ufscar/158232023-09-18 18:32:32.045oai:repositorio.ufscar.br:ufscar/15823Repositório InstitucionalPUBhttps://repositorio.ufscar.br/oai/requestopendoar:43222023-09-18T18:32:32Repositório Institucional da UFSCAR - Universidade Federal de São Carlos (UFSCAR)false |
dc.title.por.fl_str_mv |
Método automático de calibração de IMU baseado no filtro de Kalman |
dc.title.alternative.eng.fl_str_mv |
Automatic IMU calibration method based on Kalman filter |
title |
Método automático de calibração de IMU baseado no filtro de Kalman |
spellingShingle |
Método automático de calibração de IMU baseado no filtro de Kalman Diegues, Daniel IMU Filtro de Kalman Calibração Kalman Filter Calibration ENGENHARIAS::ENGENHARIA ELETRICA::MEDIDAS ELETRICAS, MAGNETICAS E ELETRONICAS; INSTRUMENTACAO |
title_short |
Método automático de calibração de IMU baseado no filtro de Kalman |
title_full |
Método automático de calibração de IMU baseado no filtro de Kalman |
title_fullStr |
Método automático de calibração de IMU baseado no filtro de Kalman |
title_full_unstemmed |
Método automático de calibração de IMU baseado no filtro de Kalman |
title_sort |
Método automático de calibração de IMU baseado no filtro de Kalman |
author |
Diegues, Daniel |
author_facet |
Diegues, Daniel |
author_role |
author |
dc.contributor.authorlattes.por.fl_str_mv |
http://lattes.cnpq.br/8787158005491236 |
dc.contributor.author.fl_str_mv |
Diegues, Daniel |
dc.contributor.advisor1.fl_str_mv |
Inoue, Roberto Santos |
dc.contributor.advisor1Lattes.fl_str_mv |
http://lattes.cnpq.br/6221209121565990 |
dc.contributor.advisor-co1.fl_str_mv |
Nogueira, Samuel Lourenço |
dc.contributor.advisor-co1Lattes.fl_str_mv |
http://lattes.cnpq.br/2287847504423307 |
dc.contributor.authorID.fl_str_mv |
70eff16d-6233-4254-8d6d-ab320fad336d |
contributor_str_mv |
Inoue, Roberto Santos Nogueira, Samuel Lourenço |
dc.subject.por.fl_str_mv |
IMU Filtro de Kalman Calibração |
topic |
IMU Filtro de Kalman Calibração Kalman Filter Calibration ENGENHARIAS::ENGENHARIA ELETRICA::MEDIDAS ELETRICAS, MAGNETICAS E ELETRONICAS; INSTRUMENTACAO |
dc.subject.eng.fl_str_mv |
Kalman Filter Calibration |
dc.subject.cnpq.fl_str_mv |
ENGENHARIAS::ENGENHARIA ELETRICA::MEDIDAS ELETRICAS, MAGNETICAS E ELETRONICAS; INSTRUMENTACAO |
description |
IMUs are widely used in applications that require position and attitude measurements. And with the production of low-cost IMUs, it has been possible to expand this use beyond military and high-cost applications, reaching consumer devices such as cell phones, wearable technologies, physical exercise and rehabilitation equipment. But every IMU needs to be calibrated for use and therefore, in addition to the sensor, there is the cost of calibration. Existing calibration methods are either proprietary to the manufacturers, or they are expensive and require specific equipment and laboratories, or they use non-optimal methods of parameter estimation. This work proposes the systematization of low cost calibration methods, with simple execution performed by the user and that provides optimized results closer to those achieved by high cost calibration methods. The data capture process is based on a multi-position method that does not require extra equipment, besides the sensor and computer itself. The experiments were executed with three commercial IMUs, one high-cost calibrated by the manufacturer, used as a reference, and two low-cost, uncalibrated. The raw accelerometer reading of each IMU was calibrated using the four forms of the Kalman filter developed in this work and the errors obtained were evaluated by comparing the high cost IMU and the calibration with the estimated parameters, showing the good performance of the methods. |
publishDate |
2021 |
dc.date.issued.fl_str_mv |
2021-12-17 |
dc.date.accessioned.fl_str_mv |
2022-04-07T17:38:08Z |
dc.date.available.fl_str_mv |
2022-04-07T17:38:08Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/masterThesis |
format |
masterThesis |
status_str |
publishedVersion |
dc.identifier.citation.fl_str_mv |
DIEGUES, Daniel. Método automático de calibração de IMU baseado no filtro de Kalman. 2021. Dissertação (Mestrado em Engenharia Elétrica) – Universidade Federal de São Carlos, São Carlos, 2021. Disponível em: https://repositorio.ufscar.br/handle/ufscar/15823. |
dc.identifier.uri.fl_str_mv |
https://repositorio.ufscar.br/handle/ufscar/15823 |
identifier_str_mv |
DIEGUES, Daniel. Método automático de calibração de IMU baseado no filtro de Kalman. 2021. Dissertação (Mestrado em Engenharia Elétrica) – Universidade Federal de São Carlos, São Carlos, 2021. Disponível em: https://repositorio.ufscar.br/handle/ufscar/15823. |
url |
https://repositorio.ufscar.br/handle/ufscar/15823 |
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por |
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600 600 |
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8e35bea9-d02a-42f3-a4c3-a40159edd944 |
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Attribution-NonCommercial-NoDerivs 3.0 Brazil http://creativecommons.org/licenses/by-nc-nd/3.0/br/ info:eu-repo/semantics/openAccess |
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Attribution-NonCommercial-NoDerivs 3.0 Brazil http://creativecommons.org/licenses/by-nc-nd/3.0/br/ |
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openAccess |
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Universidade Federal de São Carlos Câmpus São Carlos |
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Programa de Pós-Graduação em Engenharia Elétrica - PPGEE |
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UFSCar |
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Universidade Federal de São Carlos Câmpus São Carlos |
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