Attitude Determination for MAVs Using a Kalman Filter

/pdf/the-newton-s-polynomial-based-automatic-model-generation-amg-2qv4qraojc.pdf

The Newton’s Polynomial Based - Automatic Model Generation (AMG) for Sensor Calibration to Improve the Performance of the Low-Cost Ultrasonic Range Finder (HC-SR04)

The ultrasonic range finder sensors are widely used sensor in many applications such as computer applications, general purpose applications, medical applications, automotive applications and industrial grade applications. The ultrasonic range finder sensor has many advantages. The advantages are easy to use, fast in measuring process, non-contact measurement and suitable for air and underwater environment. However, the ultrasonic range finder has deviation especially for low-cost sensor. It affects the accuracy level of the measurement result that performed by its sensor directly. The HC-SR04 categorized as a low-cost ultrasonic range finder sensor. This sensor has significant error level. The improvement of the accuracy level of this low-cost ultrasonic sensor is expected to this research. The Newton’s polynomial interpolation algorithm has been used in this research to reduce the error during the measurement process. The implementation of Newton’s polynomial interpolation has succeeded to improve the sensor accuracy. The MSE level of 29,96 is obtained without the Newton’s Polynomial Interpolation implementation. The implementation of the Newton’s Polynomial Interpolation algorithm has succeeded to increase the accuracy level of the sensor by 55,54%. It has been proofed by the decrease of MSE level by 13,32.

The Performance Improvement of the Low-Cost Ultrasonic Range Finder (HC-SR04) Using Newton's Polynomial Interpolation Algorithm

Indonesia is the one of the countries with the largest of sea area. However, the water surveillance categorized as minimum. The human resource and the low level of infrastructure are the causal of the minimum level of water surveillance. The human involvement of water surveillance has many weaknesses, such as weak against the change of the nature condition, limitation in reaching location, weak against water turbidity levels and water pollution. The utilization of ROV (Remotely Operated Underwater Vehicle) could be a solution in water surveillance problem. The development of ROV still not significant in Indonesia. The development costs are also a problem in development of ROV. Many researcher using USBL (Ultra Short Base Line) sensor to sense the depth of the ROV. However, the cost of this sensor is relatively expensive. The usage of low-cost pressure sensor could be a solution to replace the USBL sensor. The low-cost pressure sensor has a significant deviation. The implementation of Newton’s polynomials interpolation algorithm has been used to decreased the deviation level of the sensors. The result shows the algorithm has succeeded to decreased the deviation level of the pressure sensor significantly. The default sensor has significant MSE value of 42956.2. The Newton interpolation algorithm has been succeeded to reducing the MSE value to 17.82. The result of this research is expected to reduce the cost of the ROVs development especially for sensors cost.

/pdf/the-newton-s-polynomials-interpolation-based-error-1v03hwn5ga.pdf

The Newton’s Polynomials Interpolation Based-Error Correction Method for Low-Cost Dive Altitude Sensor in Remotely Operated Underwater Vehicle (ROV)

A Method Based on VMD-JTFA-WP for Denoising of MEMS Gyroscope

In aircraft ground physical simulation experiment, due to the continuous working battery voltage possibly drop, causing supply voltage of gyroscope sensor is not stable, affect the gyroscope performance. Kalman filtering technology is used to solve the problem of gyro output constant drift, polynomial fitting method is adopted to establish the gyro Angle compensation model to improve the test precision. A MEMS gyro is applied in the gyro system, and the experiment system software is designed by virtual instrument technology. Software system features include data acquisition and processing, database management and data analysis. Then the experimental verification is implemented on single axis air-floating table. After one hour of experiment, the result shows that, the gyro system is capable to operate under less supply voltage condition, and the average error of gyroscope after correction is reduced from 1472.778°to 0.102°, indicating that accuracy of gyroscope and reliability and robustness of system is improved simultaneously.

Gyro Online Correction Method Based on Kalman Filter and Polynomial Fitting

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Gyro Online Correction Method Based on Kalman Filter and Polynomial Fitting