title: ÐÐ¸ÐºÑÐ¾ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑÐ½Ð¾Ðµ ÑÑÑÑÐ¾Ð¹ÑÑÐ²Ð¾ Ð¸Ð½ÐµÑÑÐ¸Ð°Ð»ÑÐ½Ð¾Ð¹ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¸ Ð½Ð° Ð¾ÑÐ½Ð¾Ð²Ðµ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° ÐÐ°Ð´Ð¶Ð²Ð¸ÐºÐ°
title: Ð¼Ð°Ð³Ð¸ÑÑÐµÑÑÐºÐ°Ñ Ð´Ð¸ÑÑÐµÑÑÐ°ÑÐ¸Ñ
titleType: Subtitle
Creators: name: Ð¯ÐºÑÐ¿Ð¾Ð², ÐÐ¸Ð½Ð°Ñ
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2016
Subjects: ÐÐ°Ð²Ð¸Ð³Ð°ÑÐ¸Ñ Ð¸Ð½ÐµÑÑÐ¸Ð°Ð»ÑÐ½Ð°Ñ
ÐÐ°ÑÑÐ¸ÐºÐ¸ ÑÐ»ÐµÐºÑÑÐ¾Ð¼Ð°Ð³Ð½Ð¸ÑÐ½ÑÐµ
ÐÐ²Ð°ÑÐµÑÐ½Ð¸Ð¾Ð½Ñ
ÐÐ¸ÑÐ¾ÑÐºÐ¾Ð¿Ñ
ÐÐºÑÐµÐ»ÐµÑÐ¾Ð¼ÐµÑÑÑ
ÐÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑÑ Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð½ÑÐµ

description: ÐÐ°Ð³Ð¸ÑÑÐµÑÑÐºÐ°Ñ Ð´Ð¸ÑÑÐµÑÑÐ°ÑÐ¸Ñ Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐµ Ð¼Ð¸ÐºÑÐ¾ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑÐ½Ð¾Ð³Ð¾ ÑÑÑÑÐ¾Ð¹ÑÑÐ²Ð° Ð¸Ð½ÐµÑÑÐ¸Ð°Ð»ÑÐ½Ð¾Ð¹ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¸ Ð½Ð° Ð¾ÑÐ½Ð¾Ð²Ðµ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° ÐÐ°Ð´Ð¶Ð²Ð¸ÐºÐ°. ÐÑÐ½Ð¾Ð²Ð½Ð¾Ðµ Ð²Ð½Ð¸Ð¼Ð°Ð½Ð¸Ðµ Ð² ÑÐ°Ð±Ð¾ÑÐµ ÑÐ´ÐµÐ»ÐµÐ½Ð¾ ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ð¸Ñ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð¸Ñ ÑÐ³Ð»Ð¾Ð²Ð¾Ð¹ Ð¾ÑÐ¸ÐµÐ½ÑÐ°ÑÐ¸Ð¸ Ð¾Ð±ÑÐµÐºÑÐ°. ÐÐ° Ð¾ÑÐ½Ð¾Ð²Ðµ ÑÑÐ¾Ð¹ Ð¸Ð½ÑÐ¾ÑÐ¼Ð°ÑÐ¸Ð¸ Ð±ÑÐ» Ð²ÑÐ±ÑÐ°Ð½ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼, ÑÐ´Ð¾Ð²Ð»ÐµÑÐ²Ð¾ÑÑÑÑÐ¸Ð¹ ÑÑÐµÐ±Ð¾Ð²Ð°Ð½Ð¸ÑÐ¼ ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¾Ð³Ð¾ Ð·Ð°Ð´Ð°Ð½Ð¸Ñ. ÐÑÐ» Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½Ñ Ð¸ Ð¿Ð¾Ð»ÑÑÐµÐ½Ñ Ð´Ð°Ð½Ð½ÑÐµ, Ð½Ð° Ð¾ÑÐ½Ð¾Ð²Ðµ ÐºÐ¾ÑÐ¾ÑÑÑ Ð±ÑÐ»Ð° Ð¿ÑÐ¾Ð²ÐµÑÐµÐ½Ð° ÑÐ°Ð±Ð¾ÑÐ° Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° ÑÑÐµÐ´Ðµ Matlab. Ð Ð°Ð±Ð¾ÑÐ° ÑÐ¾ÑÑÐ¾Ð¸Ñ Ð¸Ð· ÑÐµÑÑÐ¸ ÑÐ°Ð·Ð´ÐµÐ»Ð¾Ð². Ð ÑÐ°Ð·Ð´ÐµÐ»Ðµ 1 Ð¿ÑÐ¾Ð²Ð¾Ð´Ð¸ÑÑÑ Ð¾Ð±Ð·Ð¾Ñ ÐÐ­ÐÐ¡ - ÐºÐ¾Ð¼Ð¿Ð¾Ð½ÐµÐ½ÑÐ¾Ð², Ð¸Ñ Ð¿ÑÐµÐ¸Ð¼ÑÑÐµÑÑÐ²Ð° Ð¸ Ð½ÐµÐ´Ð¾ÑÑÐ°ÑÐºÐ¸; Ð¸Ð·Ð»Ð°Ð³Ð°ÑÑÑÑ Ð¿ÑÐ¸Ð½ÑÐ¸Ð¿Ñ ÑÐ°Ð±Ð¾ÑÑ Ð¸Ð½ÐµÑÑÐ¸Ð°Ð»ÑÐ½ÑÑ Ð´Ð°ÑÑÐ¸ÐºÐ¾Ð² Ð¸ Ð¼Ð°Ð³Ð½Ð¸ÑÐ¾Ð¼ÐµÑÑÐ¾Ð². Ð ÑÐ°Ð·Ð´ÐµÐ»Ðµ 2 Ð¿ÑÐ¸Ð²Ð¾Ð´Ð¸ÑÑÑ ÑÑÐ½ÐºÑÐ¸Ð¾Ð½Ð°Ð»ÑÐ½Ð°Ñ ÑÑÐµÐ¼Ð° ÑÑÑÑÐ¾Ð¹ÑÑÐ²Ð°; Ð´Ð°ÐµÑÑÑ ÐºÐ¾Ð½ÐºÑÐµÑÐ½Ð¾Ðµ Ð¾Ð¿Ð¸ÑÐ°Ð½Ð¸Ðµ ÐºÐ°Ð¶Ð´Ð¾Ð³Ð¾ ÑÐ·Ð»Ð° ÑÑÐµÐ¼Ñ: Ð¼Ð¸ÐºÑÐ¾ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑ, Ð´Ð°ÑÑÐ¸Ðº Ð¿ÑÐ¸Ð±Ð»Ð¸Ð¶ÐµÐ½Ð¸Ñ, 9 - Ð¾ÑÐµÐ²Ð¾Ð¹ Ð´Ð°ÑÑÐ¸Ðº Ð¸Ð·Ð¼ÐµÑÐµÐ½Ð¸Ñ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ¾Ð² Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ. Ð ÑÐ°Ð·Ð´ÐµÐ»Ðµ 3 Ð¿Ð¾ÑÑÐ½ÑÑÑÑÑ Ð¿ÑÐ¸Ð½ÑÐ¸Ð¿Ñ ÑÐ°Ð±Ð¾ÑÑ, Ð¿ÑÐµÐ¸Ð¼ÑÑÐµÑÑÐ²Ð° Ð¸ Ð½ÐµÐ´Ð¾ÑÑÐ°ÑÐºÐ¸ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·ÑÐµÐ¼ÑÑ Ð² ÑÑÑÑÐ¾Ð¹ÑÑÐ²Ðµ Ð¸Ð½ÑÐµÑÑÐµÐ¹ÑÐ¾Ð². Ð ÑÐ°Ð·Ð´ÐµÐ»Ðµ 4 Ð¿ÑÐ¸Ð²Ð¾Ð´Ð¸ÑÑÑ Ð¾Ð¿Ð¸ÑÐ°Ð½Ð¸Ðµ Ð¿ÑÐ¸Ð½ÑÐ¸Ð¿Ð¸Ð°Ð»ÑÐ½Ð¾Ð¹ ÑÑÐµÐ¼Ñ Ð¸ Ð¿ÐµÑÐ°ÑÐ½Ð¾Ð¹ Ð¿Ð»Ð°ÑÑ. Ð ÑÐ°Ð·Ð´ÐµÐ»Ðµ 5 Ð¿ÑÐ¸Ð²Ð¾Ð´ÑÑÑÑ Ð¾ÑÐ½Ð¾Ð²Ð½ÑÐµ Ð¿ÑÐ¸Ð½ÑÐ¸Ð¿Ñ Ð¸Ð½ÐµÑÑÐ¸Ð°Ð»ÑÐ½Ð¾Ð¹ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¸, Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼ Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð¸Ñ ÑÐ³Ð»Ð¾Ð²Ð¾Ð¹ Ð¾ÑÐ¸ÐµÐ½ÑÐ°ÑÐ¸Ð¸ Ð¾Ð±ÑÐµÐºÑÐ°, Ð° ÑÐ°ÐºÐ¶Ðµ ÑÐ¿Ð¾ÑÐ¾Ð±Ñ Ð¿ÑÐµÐ´ÑÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð¾ÑÐ¸ÐµÐ½ÑÐ°ÑÐ¸Ð¸ Ð¾Ð±ÑÐµÐºÑÐ° Ð² Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²Ðµ, Ð¸Ñ ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ðµ. ÐÑÐµÐ´ÑÑÐ°Ð²Ð»ÐµÐ½Ð¾ ÑÐ¿ÑÐ¾ÑÐµÐ½Ð½Ð¾Ðµ Ð¾Ð¿Ð¸ÑÐ°Ð½Ð¸Ðµ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° ÐÐ°Ð´Ð¶Ð²Ð¸ÐºÐ°. Ð ÑÐ°Ð·Ð´ÐµÐ»Ðµ 6 Ð¿ÑÐ¸Ð²ÐµÐ´ÐµÐ½Ñ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÑ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÐ° Ð² ÑÑÐµÐ´Ðµ Matlab Ð² Ð²Ð¸Ð´Ðµ Ð³ÑÐ°ÑÐ¸ÐºÐ¾Ð².
description: The master's thesis is devoted to the development of the microcontroller (MCU) device of the inertial navigation based on the Madgwick algorithm. The main attention is paid to a consideration of the algorithms' for determining the angular orientation of the object. Based on the reviewed information was chosen algorithm satisfying of the technical task. The experiment was made and the data was obtained, the work of algorithm based on those data was tested in Matlab. The master's thesis consists of six sections. In section 1, the overview of the MEMS components, its advantages and disadvantages; the principles of inertial sensors and magnetometers are presented. In section 2, there is the functional diagram of the device; there is a specific description of each diagram's node: a microcontroller, a proximity sensor, 9 - the axis sensor measuring of the parameters' motions.In section 3, the principles of operation of the device's interface, its advantages and disadvantages are explained. In section 4, there are the descriptions of the principle diagram and the printed circuit. In section 5, there are the main principles of inertial navigation, the algorithm for determining the angular orientation of the object; also there are the ways of representing the object's orientation in the space and the comparison of the considered ways. In section 6, there are the experiment's results in the Matlab in the form of graphs.