Magnetometer free tilt compensation for surveying
Tikkanen, Samuel (2025)
2025
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Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:amk-2025052616307
https://urn.fi/URN:NBN:fi:amk-2025052616307
Tiivistelmä
The purpose of the thesis was to develop a solution for magnetometer free tilt compensation for land surveying, to obsolete manual calibration of measuring sticks that was vulnerable to human error. The thesis was commissioned by Wizense Oy.
The hardware used for the project included a nRF52840 System-on-chip (SoC), ZED-F9P Global Navigation Satellite System (GNSS) receiver, and a BNO085 Inertial Measurement Unit (IMU). The firmware was developed in Rust using the Embassy framework. The solution combined the position and heading from the GNSS module and rotation and acceleration from IMU using an Attitude and Heading Reference System (AHRS) algorithm to determine an attitude, which was then used to estimate the measuring location of the measuring stick.
The study did not produce a successful outcome, due to unreliability of certain software components used for the project, in particular the library for the IMU.
The hardware used for the project included a nRF52840 System-on-chip (SoC), ZED-F9P Global Navigation Satellite System (GNSS) receiver, and a BNO085 Inertial Measurement Unit (IMU). The firmware was developed in Rust using the Embassy framework. The solution combined the position and heading from the GNSS module and rotation and acceleration from IMU using an Attitude and Heading Reference System (AHRS) algorithm to determine an attitude, which was then used to estimate the measuring location of the measuring stick.
The study did not produce a successful outcome, due to unreliability of certain software components used for the project, in particular the library for the IMU.