| dc.description.abstract | This thesis proposes a novel method to estimate the parameters of a suspended swinging load using a 77GHz millimeter wave (mmWave) radar. An experimental scale model setup was created in the lab to simulate a suspended load. The focus of this project is to achieve realtime 2D localization of the swinging load including estimation of displacement, velocity and angle. For this purpose, an AWR1843 mmWave radar was used to acquire two-dimensional point cloud data. This data was compared to two reference measurement devices. An inertial measurement unit (IMU) provides velocity and angle data and an IWR6843 mmWave radar programmed to accurately measure range which is interpreted as x-position in this thesis. A system was implemented using Robot Operating System (ROS) for data acquisition and visualization. The visualization features a simulation of the real world experiment which mirrors the physical system in real-time by using the processed point cloud data from the measurement radar, as a step toward a digital twin. The proposed method has a root mean square error for displacement of 3.0 [cm], 0.07 [rad] for angle and 0.127 [m/s] for velocity compared to the reference sensors. On the basis of these results, it is concluded that mmWave radars may be applicable to determine parameters of physical systems. | |
