Implementacija i provjera simulacijskog modela kvadrirotorske letjelice u stvarnom vremenu na Raspberry Pi-u

master's thesis

• Title (english): Implementation and validation of a real-time simulation of a quadrotor aerial vehicle on a Raspberry Pi
• Author: Dominik Jurinić
• Mentor: Dario Zlatar (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2020-07-14, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Tema ovog rada je implementacija integracijske procedure kinematičke rekonstrukcije orijentacije kvadrirotorske letjelice te provjera simulacijskog modela u stvarnom vremenu na računalu Raspberry Pi. U prvom poglavlju su između formalizama za opis rotacija odabrane i opisane matrice rotacije kao elementi SO(3) grupe te jedinični kvaternioni iz SU (2) grupe nakon čega su izvedene relacije temeljene na Eulerovim parametrima. Poglavlje završava izvodom jednadžbe kinematičke rekonstrukcije orijentacije. U drugom poglavlju dan je pregled nove metode vremenske integracije jediničnih kvaterniona koja inkrementalnu integraciju vrši na tangentnom prostoru rotacijske mnogostrukosti SO(3) uz izravnu rekonstrukciju orijentacije na mnogostrukosti jediničnih kvaterniona SU (2). Poglavlje završava opisom i ko- mentarom detalja implementacije pojedinih relevantnih funkcija implementirane integracijske procedure. U trećem poglavlju opisane su i uspoređene programske paradigme u kontekstu numeričkih simulacija i znanstvenog računanja te je dan kratak opis hardverske infrastrukture na kojoj su simulacije realizirane. U zadnjem poglavlju, nakon validacije modela i rezultata, dan je niz usporedbi procesorskih vremena za ’off-line’ i ’on-line’ simulacije s različitim koracima integracije.

Abstract (english)

The topic of this paper is the implementation of the integration procedure for kinematic reconstruction of attitude for a quadrotor aerial vehicle and validation of a real-time simulation model on a Raspberry Pi computer. In the first chapter, between the formalisms for the description of rotations, the rotation matrices were selected and described as elements of the SO(3) group and unit quaternions from the SU (2) group, after which relations based on Euler parameters were derived. The chapter ends with a derivation of the equation of kinematic reconstruction of attitude. The second chapter provides an brief overview of a new integration method of unit quaternions that performs incremental integration on the tangential space of the rotational manifold SO(3) with a direct reconstruction of the orientation on the manifold of unit quaternions SU (2). The chapter ends with a description and commentary on the details of the implementation of certain relevant functions. The third chapter describes and compares programming paradigms in the context of numerical simulations and scientific computing, and gives a brief description of the hardware infrastructure on which the simulations were implemented. In the last chapter, after model and result validation, a series of comparisons of processor times for ‘off-line’ and ‘on-line’ simulations with different integration steps are given.

• Keywords: kvadrirotorska letjelica; numerička integracija; SO(3) grupa; SU(2) grupa; Raspberry Pi
• Keywords (english): quadrotor aerial vehicle; numerical integration; SO(3) group; SU(2) group; Raspberry Pi
• Language: croatian
• URN:NBN: urn:nbn:hr:235:017552
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Repository: Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb
• Created on: 2020-07-07 15:27:59