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  • Multichannel Distributed Control System Spatial Position of the Object on the Basis of Non-Inertial Navigation System

Student
Title
Supervisor
Faculty
Educational Programme
Final Grade
Year of Graduation
Diana Angheliuc
Multichannel Distributed Control System Spatial Position of the Object on the Basis of Non-Inertial Navigation System
10
2017
This work is devoted to the study and creation of a Multichannel Distributed Control System Spatial Position of the Object on the Basis of Non-Inertial Navigation System. In other words, the calculation of the instantaneous position of an object in space with the use of a gyroscope, an accelerometer and a magnetometer, which are necessary for measuring angular velocity, angular acceleration and the change and direction of the earth's magnetic field. The study used a gyroscopic module based on the ITG-3200, a three-axis accelerometer MMA7361L, a digital compass with the HMC5883L module, an Arduino Uno microprocessor platform for connection and software implementation of the sensor system and a Troyka Shield module for simultaneous connection of sensitive elements to the Arduino platform.

During the study were studied the fundamentals of the BINS theory (a free-form navigation system), descriptions of the sensitive elements used, was analyzed market and compared of multifunctional debugging platforms for the selection of the most optimal. Based on the chosen platform, the Arduino IDE development environment was approved. To calculate the rotation angles, numerical integration methods were analyzed to select the most convenient for software implementation. The program code that implements the set goal consists of several blocks: a compass readout unit, a gyro reading unit, an accelerometer reading unit, and a time management unit for reading this data. This is a timer that measures the time intervals through which the data taken from the sensors is output in the "serial port monitor" window.

The final part summarizes the results of the study, contains conclusions, practical recommendations.

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