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undergraduate thesis
PRIMJENA KALMANOVOG FILTRA ZA FUZIJU SENZORA
2021. urn:nbn:hr:200:454747
Mostarac, Marija
Josip Juraj Strossmayer University of Osijek
Faculty of Electrical Engineering, Computer Science and Information Technology Osijek
Department of Electromechanical Engineering
Chair of Fundamentals of Electrical Engineering and Measurements

Cite this document

Mostarac, M. (2021). PRIMJENA KALMANOVOG FILTRA ZA FUZIJU SENZORA (Undergraduate thesis). Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek. Retrieved from https://urn.nsk.hr/urn:nbn:hr:200:454747

Mostarac, Marija. "PRIMJENA KALMANOVOG FILTRA ZA FUZIJU SENZORA." Undergraduate thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2021. https://urn.nsk.hr/urn:nbn:hr:200:454747

Mostarac, Marija. "PRIMJENA KALMANOVOG FILTRA ZA FUZIJU SENZORA." Undergraduate thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2021. https://urn.nsk.hr/urn:nbn:hr:200:454747

Mostarac, M. (2021). 'PRIMJENA KALMANOVOG FILTRA ZA FUZIJU SENZORA', Undergraduate thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, accessed 19 November 2024, https://urn.nsk.hr/urn:nbn:hr:200:454747

Mostarac M. PRIMJENA KALMANOVOG FILTRA ZA FUZIJU SENZORA [Undergraduate thesis]. Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek; 2021 [cited 2024 November 19] Available at: https://urn.nsk.hr/urn:nbn:hr:200:454747

M. Mostarac, "PRIMJENA KALMANOVOG FILTRA ZA FUZIJU SENZORA", Undergraduate thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, Osijek, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:200:454747

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Metadata
TitlePRIMJENA KALMANOVOG FILTRA ZA FUZIJU SENZORA
Title (english)APPLICATION OF KALMAN SENSOR FUSION FILTER
AuthorMarija Mostarac
MentorKruno Miličević (mentor)
GranterJosip Juraj Strossmayer University of Osijek
Faculty of Electrical Engineering, Computer Science and Information Technology Osijek
(Department of Electromechanical Engineering)
(Chair of Fundamentals of Electrical Engineering and Measurements)
Osijek
Defense date and country2021-09-29, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Electromechanical Engineering
Abstract
U radu je objašnjen pojam Kalmanovog filtra kao estimatora stanja sustava na temelju mjerenja uz prisustvo šumova. On omogućava mjerenje varijabli koje nisu izravno mjerljive kao i postizanje točnijih, preciznijih, kvalitetnijih i pouzdanijih podataka posredstvom fuzije senzora. U drugom poglavlju je iznesena teorijska podloga koja stoji iza definicije filtra. Objašnjen je algoritam filtra koji podrazumijeva izmjenu dva koraka a to su predikcija i korekcija s pripadnim jednadžbama, vizualizacijom svake faze algoritma i primjerom MATLAB simulacije. U trećem poglavlju definirane su karakteristike odnosno prednosti fuzije senzora, povučene su paralele između fuzije senzora i Kalmanovog filtra. Detaljno je objašnjena primjena filtra za fuziju senzora te su dobiveni zadovoljavajući rezultati simulacije kao rješenja postavljenog zadatka završnog rada.
Abstract (english)
The paper explains the concept of the Kalman filter as an estimator of the system state based on measurements in the presence of noise. It enables the measurement of variables that are not directly measurable as well as the achievement of more accurate, precise, high-quality and more reliable data through sensor fusion. The second chapter presents the theoretical background behind the definition of a filter. The filter algorithm, which implies the change of two steps, namely prediction and correction is explained with the corresponding equations, visualization of each phase of the algorithm and an example of MATLAB simulation. In the third chapter, the characteristics and advantages of sensor fusion are defined, and parallels between sensor fusion and Kalman filter are drawn. The application of the filter for sensor fusion is explained in detail, and in the end satisfactory simulation results were obtained as a solution to the task of the final paper.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:200:454747
Study programmeTitle: Undergraduate University Study Programme
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike)
Type of resourceText
File originBorn digital
Access conditionsOpen access
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Created on2021-11-22 16:01:39