"I have came to the conclusion that the data from the IMU has too much noise to do this. I'm implementing procedure documented here. "
Dr B Holt's Discussions
Can acceleration in global coordinates be calculated and exported via DCM?
Started this discussion. Last reply by Dr B Holt May 25, 2012. 12 Replies 0 Likes
For a rover application .....I am modifying the 1.9 firmware to send out acceleration in global coordinates, but I am not getting satisfactory results.My process is to perform a matrix operation by…Continue
Will Serial0 being multiplexed with GPS prevent 2 way com with another Arduino?
Started this discussion. Last reply by Dr B Holt Apr 23, 2012. 2 Replies 0 Likes
I'm adding code to the firmware to have data be request instead of being push from the ArduIMU v3. I have tried many thing to set up the handshake but none work. So my question is: Does multiplexing…Continue
Tags: multiplexed
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Dr B Holt replied to Dr B Holt's discussion Can acceleration in global coordinates be calculated and exported via DCM?
gadgetfan2 replied to Dr B Holt's discussion Can acceleration in global coordinates be calculated and exported via DCM?"Hi Dr. B
I have some experience in navigation and I think you may have two problems here.
First I agree with Cyrus above you have to consider the gravity vector. An accelerometer really measures the specific force. That is, it measures the net force…"
Cyrus Abdollahi replied to Dr B Holt's discussion Can acceleration in global coordinates be calculated and exported via DCM?"Hi Dr. B,
If I understand you correctly, you are trying to integrate the acceleration to determine position estimation. Since this is a double integration process, noise drift will get you twice. One simple test you can do is let the robot…"
Simon McIlroy replied to Dr B Holt's discussion Can acceleration in global coordinates be calculated and exported via DCM?":( that's a shame.
Did you take a look at the optical flow sensor notes?
http://diydrones.com/profiles/blog/show?id=705844%3ABlogPost%3A206819
This looks like it may be a more promising solution."
Dr B Holt replied to Dr B Holt's discussion Can acceleration in global coordinates be calculated and exported via DCM?"I have came to the conclusion that the data from the IMU has too much noise to do this. I believe this is why acceleration is not a preconfigured output."
Simon McIlroy replied to Dr B Holt's discussion Can acceleration in global coordinates be calculated and exported via DCM?"Hiya,
This is exactly what I'm trying to do too.
I only got my board last week so am still trailing the web for all the required information. So far I've got it up and running and am outputting a custom string of gyro motion and…"
Dr B Holt replied to Joseph Nicholas R. Alcantara's discussion ArduIMU+ V3, Power questions"I am using the ArduIMU+ V3 with the arduino mega 2560. I use the same 5V source to power both the mega and IMU. I power the IMU via the FTDI header. This simplifies things. When programming the IMU, I use the FTDI…"
Dr B Holt replied to droter's discussion Killer app for ArduRover"I'm currently using (actually integrating) the ArduIMU into my rover. I have only had the IMU for about 2 weeks. It's a 4 WD indoor/outdoor rover. Mostly a learning platform but plan to put a camera on it and let it roam…"
Dr B Holt replied to Eric Frank's discussion Nav Speed Threshold for the MT3329 GPS unit"Check http://diydrones.com/forum/topics/gps-position-hold-in-quadcopter. ; It has a string to set it to 0.2 m/s. I used it and it worked."
Dr B Holt replied to lucky13's discussion GPS position hold in quadcopter.."Lucky13,
I was having problems with my GPS not updating and accidentally came across the posting above regarding setting the threshold. I added the string to the code and it fixed my problem. A BIG THANK you!!!"
Dr B Holt replied to Dr B Holt's discussion Can acceleration in global coordinates be calculated and exported via DCM?"Interesting idea. I'll have to look into this."
Greg Fletcher replied to Dr B Holt's discussion Can acceleration in global coordinates be calculated and exported via DCM?"Dr B,
I just had an idea. I have read before, I think here, about some one hacking an optical mouse encoder chip. The lens had to be changed to get the right focal length, and the chip outputs serial data for x & y travel. This my be just what…"
Dr B Holt replied to Dr B Holt's discussion Can acceleration in global coordinates be calculated and exported via DCM?"I was hopping that for a rover I could, from time to time, stop and zero (by offset) the error. But I have not found a good solution yet. Error grows too fast.
Regarding wheel encoders: my rover is an indoor & outdoor. Slippage…"
Greg Fletcher replied to Dr B Holt's discussion Can acceleration in global coordinates be calculated and exported via DCM?"They have tried that on multicopters for position holding and I believe it does not work. There is too much noise in the accel signals and with the double integration the distance solution is very unstable. I think you just need to use a real…"
Dr B Holt replied to Dr B Holt's discussion Can acceleration in global coordinates be calculated and exported via DCM?"You are likely correct about the libraries. I have only have the IMU for about two weeks and due to the lack of documentation I am discovering capabilities daily.
My ultimate goal is to add odometry capability to the IMU. This should be…"
Greg Fletcher replied to Dr B Holt's discussion Can acceleration in global coordinates be calculated and exported via DCM?"It think I can help,but I don't understand what you are trying to do. In version 2.X there are libraries to do all kinds of vector/matrix operations.
Here's how it's done now.
// multiplication by a vectortemplate <typename…"
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