"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
Dr B Holt's Page
Latest Activity
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…"
Profile Information
- About Me:
- Missile Engineer
- Tell us a bit about your UAV interest
- Interested in using the Arduimu in a ground based rover
Comment Wall
- No comments yet!
Social Networking
Top Content
Contests
Season Two of the Trust Time Trial (T3) Contest has now begun. The fourth round is an accuracy round for multicopters, which requires contestants to fly a cube. The deadline is April 14th.A list of all T3 contests is here.
Groups
-
South African DIY Drones…
57 members
-
Moderators
24 members
-
ArduCopter User Group
1288 members
-
ArduPlane User Group
680 members
-
ArduCopter Italian Group
87 members
Advertisement
© 2013 Created by Chris Anderson.
Powered by
