Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
GPS/Optical Encoder Based Navigation Methods for dsPIC Microcontroled Mobile Vehicle
Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE), Halmstad Embedded and Intelligent Systems Research (EIS).
2010 (English)Independent thesis Advanced level (degree of Master (Two Years)), 30 credits / 45 HE creditsStudent thesis
Abstract [en]

Optical encoders are being widely suggested for precise mobile navigation. Combining such sensor information with Global Positioning System (GPS) is a practical solution for reducing the accumulated errors from encoders and moving the navigational base into global coordinates with high accuracy.

This thesis presents integration methods of GPS and optical encoders for a mobile vehicle that is controlled by microcontroller. The system analyzed includes a commercial GPS receiver, dsPIC microcontroller and mobile vehicle with optical encoders. Extended kalman filtering (EKF), real time curve matching, GPS filtering methods are compared and contrasted which are used for integrating sensors data. Moreover, computer interface, encoder interface and motor control module of dsPIC microprocessor have been used and explained.

Navigation quality on low speeds highly depends greatly upon the processing of GPS data. Integration of sensor data is simulated for both EKF and real time curve matching technique and different behaviors are observed. Both methods have significantly improved the accuracy of the navigation. However, EKF has more advantages on solving the localization problem where it is also dealing with the uncertainties of the systems.

Place, publisher, year, edition, pages
2010. , p. 69
Keywords [en]
Kalman filter, PIC, robotics, GPS, optical encoder
National Category
Vehicle Engineering Control Engineering
Identifiers
URN: urn:nbn:se:hh:diva-4420OAI: oai:DiVA.org:hh-4420DiVA, id: diva2:319617
Presentation
(English)
Uppsok
Technology
Supervisors
Examiners
Available from: 2010-05-19 Created: 2010-05-18 Last updated: 2010-05-19Bibliographically approved

Open Access in DiVA

fulltext(1158 kB)2674 downloads
File information
File name FULLTEXT01.pdfFile size 1158 kBChecksum SHA-512
b8dec73cfbe700aeaa57a8997088c24c79ca6b165045144c5e63f4238952a094a75f542f07d7cc229b585bbb825c8e5a193189391103438792b0ee91a4d1d903
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Dincay, Berkan
By organisation
Halmstad Embedded and Intelligent Systems Research (EIS)
Vehicle EngineeringControl Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 2674 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 766 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf