Determining the objects position in area

Determining the objects position in area

Maksim A. Kuznetsov
Student, Russian University of Transport (RUT (MIIT), Vehicles and Control Systems Institute, «Control and Information Security» Department, 9-9, ul. Obraztsova, Moscow, 127994, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Lyudmila N. Loginova
Candidate of Engineering Sciences, Associate Professor, RUT (MIIT), Vehicles and Control Systems Institute, «Control and Information Security» Department, 9-9, ul. Obraztsova, Moscow, 127994, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-3150-0759, elibrary SPIN code: 7211-1867, elibrary AuthorID: 541402

Ilya V. Mikhalev
Student, RUT (MIIT), Vehicles and Control Systems Institute, «Control and Information Security» Department, 9-9, ul. Obraztsova, Moscow, 127994, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Anton I. Safronov
Candidate of Engineering Sciences, Associate Professor, RUT (MIIT), Vehicles and Control Systems Institute, «Control and Information Security» Department, 9-9, ul. Obraztsova, Moscow, 127994, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0001-9048-8457, elibrary SPIN code: 5883-4680, elibrary AuthorID: 692669

UDC identifier: 681.5:621.8.023

EDN: QEZLGP

Abstract. Within the discipline «Project activity» framework the difficult accessibility problem of educational and scientific materials containing convenient, step-by-step instructions, as well as experiments detailed results related to the incoming data collection and processing from sensors groups, and increasing this information processing efficiency in order to improve the automated control systems functioning qualitative characteristics, in particular, performance in the considering context of the objects position in area determining issue when using the Kalman filter, which helps to increase the results, obtained during the signal processing, accuracy. The article provides the object orientation and determining its position in area modern systems brief overview. The position sensors, designed to «capture» movements performed by an operator in area, group connecting methods, taking into account all possible coordinate shifts along the roll, yaw and pitch axes, are described. The electrical control circuit proposed in the article is based on the Arduino Uno microcontroller. An algorithm for sensors automated calibration, incoming data from sensors filtering when using the Kalman filter during processing, as well as a structure for translating the collected data into three-dimensional area is proposed. The project, which resulted in the published results, topic was formulated within the mentors from two Russian University of Transport departments: «Control and Information Security» and «Ground Transportation and Technological Equipment» collaboration framework.

Key words: sensors, accelerometer, gyroscope, magnetometer, microcontroller, MEMS, IMU, Arduino Uno, Kalman’s filter, project activity

For citation: Kuznetsov, M.A., Loginova, L.N., Mikhalev, I.V. and Safronov, A.I. (2025), "Determining the objects position in area", Robotics and Technical Cybernetics, vol. 13, no. 4, pp. 275-284, EDN: QEZLGP. (in Russian).

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Received 14.03.2025
Revised 25.03.2025
Accepted 18.05.2025