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Vibration Analysis for Speed Estimation of Wheeled Indoor Vehicles
Linköping University, Department of Electrical Engineering, Automatic Control.
2017 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In this thesis speed estimation of wheeled indoor vehicles based on vibrationsin the wheels is studied. Suitable applications include localization on wheeledindoor equipment, where wheel speed sensors are impractical or cannot be installed.Utilizing the inertial measurement unit installed on a tag, the accelerometerscan provide information about the fundamental frequency and harmonicsof the wheel. The information is provided through the vibration components,embedded in the accelerometer signal, and the speed of the vehicle is proportionalto the fundamental frequency. To enable inertial navigation of the vehiclea Kalman filter is used, allowing estimations to be performed in the time domain.In addition to tracking the frequency of the wheels, the accelerometers are usedto track fast speed variations and detect stand still. Compared to inertial navigationwhich has a cubic positioning drift over time, this setup limits the drift to belinear in time. The proposed inertial navigation system is evaluated on datasetsrecorded in a proof of concept environment, performing continuous frequencytracking with a low average error rate.

Place, publisher, year, edition, pages
2017. , p. 70
Series
LiTH-ISY-EX--17/5064--SE, ISSN 5064
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-138390OAI: oai:DiVA.org:liu-138390DiVA, id: diva2:1109743
External cooperation
Senion AB, handledare: David Törnqvist
Presentation
2017-06-09, Filtret, B-huset, 15:44 (English)
Supervisors
Examiners
Note

Osäker på det här med "Presentation". Den ägde rum innan detta publicerande.

Men skrev i när det skedde i alla fall.

Available from: 2017-06-19 Created: 2017-06-14 Last updated: 2017-06-19Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
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  • de-DE
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  • nn-NB
  • sv-SE
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Output format
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