Měření orientace objektu ve statických a dynamických podmínkách

Abstract

The aim of this thesis is to introduce the issues of the measurement of object orientation and the function of inertial systems. The task is to design and implement in practise such inertial system for measuring the absolute orientation towards the Earth’s surface. The principle of inertial systems is mentioned in the first part of the thesis, including the function and usage of inertial navigation, its complementary systems and advantages. Also the sensors used for inertial systems and sensors using the internal signal for better accuracy of the system, are stated there. The general principles of their function are given there as well. In the next part, there is a comparison between the accessibility, parameters and price of the main sensors of inertial navigation, e.g. accelerometers and gyroscopes. Further on, there is a part where the communication bus connecting sensors with the microprocessor unit, are described here. In the practical part, there is an individual analysis of sensors and other integrated circuit, carried out by the author himself. The principal of their measurement, the way of data transfer and its connection, is stated here. The final part is concentrated on the inertial system model supplemented with program for computer visualisation of data, which is realized in the thesis from the practical point of view.