Inertial Measurement Unit av miniatyrformat med CAN-interface

Abstract

CPAC Systems develops systems and equipment for heavy equipment vechicles. CPAC Systems aims to develop equipment for measuring the position and orientation of a body. Units with this characteristics are often referred to as an Inertial Measurement Unit or simply IMU. The IMU developed in this thesis work should be able to acquire the orientation and movement of heavy construction equipment. This will be accomplished by fusing information from three different types of sensors: an accelerometer, a gyroscope and a magnetometer. The IMU should provide a CAN bus interface for external communication, including re-programming of the unit. This will require sophisticated hardware and software design. The unit should also be able to cancel disturbance from surrounding materials and movement. The unit is developed for construction equipment, but could be placed on any object where determination of orientation is desired.