KÜRESEL CİSİMLERİN POZİSYON KESTİRİMİNDE KUATERNİYON YAKLAŞIMLARININ DEĞERLENDİRİLMESİ - SIZINTI TESPİT TOPU UYGULAMASI

Su kaynaklarının azalması sebebiyle alınan önlemlerden biri su iletim hattında oluşan sızıntı konumlarının doğru tespitidir. Bu nedenle sızıntı tespiti ile ilgili çalışmalar önem arz etmektedir. Bu çalışmada, su borularındaki sızıntı olan bölgelerin tespitinde kullanılmak üzere küre şeklinde bir top üretilmiş ve bu topun gezinti esnasında anlık konum bilgisinin en doğru hesaplanabileceği yöntemler araştırılmıştır. Xsens firmasının IMU sensörünü içeren topun belirli hareket güzergâhlarında gezintisi sağlanmış ve anlık ivme, açısal hız ve kuaterniyon verileri toplanmıştır. Kuaterniyon değerinin pozisyon üzerindeki etkisini analiz edebilmek için iki farklı Kuaterniyon hesaplama yaklaşımının (Madgwiwck ve Mahony) sonuçları değerlendirilmiştir. Deneysel çalışmalar, pozisyon tahmin doğruluğunun tatmin edici düzeyde olduğunu ve yapılan çalışmanın sızıntı tespit sistemlerinde kullanılabileceğini göstermektedir.

Anahtar Kelimeler:

Kuaterniyon, imu, madgwick, mahony, pozisyon takibi, sızıntı tespiti

EVALUATION OF QUATERNION APPROACHES IN ESTIMATING THE POSITION OF SPHERICAL BODIES- LEACK DETECTION BALL APPLICATION

One of the measures taken due to the decrease in water resources is the accurate detection of leakage locations in the water transmission line. For this reason, studies on leak detection are important. In this study, a spherical ball was produced to be used in the leak detection areas in the water pipes and the methods by which the instant position information of this ball can be calculated most accurately were investigated. The ball containing the IMU sensor of Xsens company was provided to travel on certain movement paths and instantaneous acceleration, angular velocity and quaternion data were collected. In order to analyze the effect of quaternion on position, the results of two different Quaternion calculation approaches (Madgwick and Mahony) were evaluated. Experimental studies show that the position estimation accuracy is satisfactory and the study can be used in leak detection systems.

Keywords:

Quaternion, imu, madgwick, mahony, position tracking, leack detection,

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