Naslov
Kalman Filter Based Sensor Fusion for Omnidirectional Mechatronic System

Autori
Korotaj, Blaž ; Novoselnik, Branimir ; Baotić, Mato

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 35th International Conference on Electrical Drives and Power Electronics, EDPE 2021 / Jakopović, Željko ; Matuško, Jadranko - Zagreb : Hrvatsko društvo za komunikacije, računarstvo, elektroniku, mjerenja I automatiku (KoREMA), 2021, 183-188

ISBN
978-1-6654-3234-4

Skup
35th International Conference on Electrical Drives and Power Electronics (EDPE) 10th Joint Croatian- Slovak Conference

Mjesto i datum
Dubrovnik, Hrvatska, 22.09.2021. - 24.09.2021

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Mobile mechatronic system, Omnidirectional drive, Sensor fusion, Discrete extended Kalman filter, State estimation

Sažetak
The paper describes the sensor fusion for the newly developed omnidirectional mechatronic system. To that end, the kinematic model of the platform and the chosen configuration of omnidirectional Mecanum wheels is described, as well as the principle of operation of all system sensors. The expressions are given for a discrete linear Kalman filter that fuses measurements of a magnetometer and gyroscope, and for a discrete extended Kalman filter that estimates position and orientation of the platform using additional accelerometer measurements. To be able to express the measurement equation four additional states are added to the system model. The developed sensor fusion algorithm was implemented in MATLAB/Simulink programming environment, and very accurate simulation results are reported for estimation of position and orientation of the system. Finally, the real time experimental results are reported for a prototype of the omnidirectional mobile mechatronic system.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti

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