This master thesis report presents the developement of an INS/GPS navigation loop written in ANSI C++ using a standard matrix library. The filter have been tested on an Unmanned Aerial Vehicle (UAV) called Brumby. Here data have been logged from the Inertial Measurement Unit (IMU) and the Global Positioning System (GPS) receiver. This data have then been postprocessed and run through the navigation filter for estimation of position, attitude and velocity of the vehicle during the flights. The error feedback to the Inertial Navigation System (INS) is done with a complement filter implemented using a kalman filter written in information form.The resulting navigation filter estimates the attitude within two degrees with 95% confidence and the position within two meter using 95% confidence. / <p>Validerat; 20101217 (root)</p>

Detta arbete var beställt av Sjöfartshögskolan i Kalmar. Skolan ville ha en enhet som kunde mäta aktiv-, reaktiv- och skenbar effekt, ström, spänning, frekvens och cosϕ på en generator och som kommunicerade vidare dessa värden till en PLC. Detta för att kunna lastfördela lasten mellan ett antal generatorer i kursen Tillämpad elteknik 15 hp där studenterna bygger en generatorinstallation med tre generatorer. Ett funktionsblock för lastfördelning skulle också programmeras. Prototypen som konstruerades baserades på en Arduino Ethernet och kommunikationen löstes med Modbus TCP/IP över Ethernet. Ett lastfördelningsprogram programmerades i form av ett funktionsblock som studenterna kunde importera till CoDeSys v2.3 och använda i sina installationer. Prototypen kunde läsa av värdena med ungefär samma noggrannhet som ett kommersiellt instrument som använder sig av samma mätteknik som prototypen. Uppdateringsfrekvensen var dock lägre än hos ett kommersiellt instrument. Kommunikationen med PLC:n fungerade utan problem. Då ingen undervisning hölls i arbetets slutskede kunde inte lastfördelningen testas på en fullskalig anläggning. Lastfördelningsprogrammet klarade dock av att hålla rätt frekvens på en ensam generator och fungerade som tänkt när programmet testades i en simulator. Prototypen gav fel mätvärden vid kapacitiv last. Vid jämförelse med en kommersiell tångamperemeter visade sig mätfelet bero på mätmetoden då båda gav liknande resultat. Som referens användes en professionell elkvalitetsanalysator. Alla uppdragsgivarens krav blev uppfyllda och arbetet kommer att kunna användas i undervisningen. / This thesis was ordered by Kalmar Maritime Academy. The request was for a device that could measure active, reactive and apparent power, as well as frequency, voltage, current and cosϕ on a generator. The measured values would be communicated to a PLC for use in a load sharing program between a number of generators in the course Tillämpad elteknik, 15 ECTS. In that course the students constructs a three-generator electric power grid. Included in the request was also to program a load sharing program. The prototype being constructed was based on the Arduino Ethernet, and the communication was enabled by means of the Modbus TCP/IP protocol over Ethernet. A load sharing program was created in the form of a function block which the student could import into the CoDeSys for use in the generator systems. The prototype could measure values with close to the same accuracy as a commercial available instrument that were using the same technique for measuring. The refresh rate was however lower than the commercial available instrument. Communication with the PLC worked without any issues. No full-scale testing could be done since no course was held during the final stages of the thesis, however the load sharing program could keep frequency on a single generator alone and worked in a simulated soft environment. Measuring errors occurred when measuring a capacitive load. When comparing to a commercial available clamp meter, the same errors occurred. As a reference a professional power and energy quality analyser was used. All the requests were fulfilled and the result of this thesis will be used in the educational programme at the Academy.

Master's thesis is dealing with desgin of a measuring unit incorporating inertial sensors, used for analysis in canoe sprint. Data from a three-axis accelerometer and a three-axis gyroscope were combined using an extended Kalman filter, yielding speed, roll, pitch and yaw of the boat and stroke rate. Calculated values were verified by a GPS. Furthermore, parameters describing dynamic behaviour of the system were identified, allowing an inclusion of dynamic quantities like force and power into the analysis.

Цель работы – разработка, исследование точности и конструирование измерительной станции для контроля биения сферического торца ролика радиального двухрядного сферического подшипника качения на базе существующего автомата (А-2292-М) для контроля гранности бочкообразных роликов. В ходе работы была предложена метрологическая схема, необходимая для контроля сферического торца ролика, исследована её точность, разработана конструкция измерительной станции. Показана реализация измерительной системы в конструкции автомата для контроля гранности с двумя вариантами источников вращения ролика в процессе измерения. Проведен расчет экономической эффективности от повышения качества роликов и увеличения межремонтных периодов. В основу измерительного узла положено использование индуктивного (автогенераторного) датчика и элемента посредника совместно с метрологической схемой, представленной в работе. / The aim of the work is to develop, study the accuracy and design of a measuring station for monitoring the runout of a spherical roller end of a radial two-row spherical rolling bearing based on an existing machine (A-2292-M) to control the granularity of barrel rollers. In the course of the work, a metrological scheme was proposed, which was necessary to control the spherical end of the roller, its accuracy was investigated, and the design of the measuring station was developed. The implementation of the measuring system in the design of the automatic machine for control of granularity with two options for sources of rotation of the roller in the measurement process is shown. The calculation of economic efficiency from improving the quality of rollers and increasing the period between repairs is carried out. The basis of the measuring node is the use of an inductive (auto-oscillating) sensor and an intermediary element in conjunction with the metrological scheme presented in the work.