Wojciech Batog
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  • Poland
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Wojciech Batog's Friends

  • Cristian Miuta
  • Sinan Inanc
  • Jose.L.Jr
  • Jean-Jacques
  • Roberto Navoni
  • Doug Weibel
  • Bill Nesbitt
  • Alex
  • Jose Luis Cortes
  • William Premerlani
  • wayne garris

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Latest Activity

Wojciech Batog commented on YC's blog post iPad LCD as Displayport monitor
"This is really great :) Can I buy one? It is only for the standard (ipad , ipad 2? ) 9,7 1024*768 non Retina screens?"
Apr 14
Wojciech Batog commented on elad orbach's blog post A MICRO RC PLANE BUILDER SHARES HIS TRICKS
"Really impressive work :)"
Feb 11
Wojciech Batog commented on elad orbach's blog post A MICRO RC PLANE BUILDER SHARES HIS TRICKS
"Really impressive work :)"
Feb 11
Wojciech Batog commented on Ivan Stamatovski's blog post Lightest, smallest, most affordable thermal camera for UAVs
"why there is this delay and difference in framerates between both cameras?"
Oct 22, 2016
Wojciech Batog replied to Jean-Jacques's discussion Tuning parameters for thermals
"Cant wait for the details! :)"
Sep 11, 2016
Wojciech Batog commented on Kyle - CrimsonUAV's blog post NextGen Quiet High Endurance Heavy Lift MultiRotor
"@Rob, @KyleWhat is the advantage of using overlaping props vs the standard coaxial? From what I understand the coaxial placement can gain efficiency by the second prop using the wake (spin of air) of the first. Does this work also in this overlaping…"
Jul 13, 2016
Wojciech Batog commented on Greg Dronsky's blog post DJI Inspire 1 Catches Fire On Passanger Plane
"There were a lot of changes in 2015 as to transporting of Lithium batteries on aircraft.Those are the current regulations:http://www.iata.org/whatwedo/cargo/dgr/Pages/lithium-batteries.aspx"
Apr 3, 2015
Wojciech Batog commented on Roberto Navoni's blog post VR Brain Micro 5.0 : yesterday start to delivery the pre order of VR Brain Micro . Now we are working on vrbrain wiki updates will be available in the next hours .
"great news :)what about its older brother vrBrain 5.0? any news on its release date and pricing?"
Jun 17, 2014
Wojciech Batog commented on Nick Arsov's blog post AUAV-X1 , a new vision of the PX4 autopilot
"What exactly is the issue with the stacked microIMU?"
May 15, 2014
Wojciech Batog commented on Roberto Navoni's blog post VR GPS Ublox LEA 6H with HMC5983 (2 bus option i2c/spi) is coming
"@RobertoThat what I meant- it costs more but you get more ;) You say that VRbrain 5.0  is going in production, and you still don't have a price? ;) Give us something, please:)"
Apr 6, 2014
Wojciech Batog commented on Roberto Navoni's blog post VR GPS Ublox LEA 6H with HMC5983 (2 bus option i2c/spi) is coming
"https://store.3drobotics.com/products/3dr-gps-ublox-with-compass $5 isn't nothing but it's wouldn't call it significant"
Apr 4, 2014
Wojciech Batog commented on Roberto Navoni's blog post VR GPS Ublox LEA 6H with HMC5983 (2 bus option i2c/spi) is coming
"Hi Roberto,Great hardware, tad expensive , but it is a ublox, and you don't get this kind of performance for free... :)Any news on the price of the VRbrain 5.0?"
Apr 4, 2014
Wojciech Batog commented on Nick Arsov's blog post AUAV-X1 , a new vision of the PX4 autopilot - Part II - the bare PCBs
"Are those first batch prototype boards still available for sale?"
Mar 4, 2014
Wojciech Batog commented on Roberto Navoni's blog post Secret Pictures from VR Lab: VR Brain 5.0 is coming ...
"Any news ?"
Feb 25, 2014
Wojciech Batog commented on Graham Dyer's blog post Another 100km+ flight
"and this is the case when using airspeed sensor or without it ? generally seems to be some sort of PIO or in this case aPIO ;)"
Feb 15, 2014
Wojciech Batog commented on Graham Dyer's blog post Another 100km+ flight
"Is the attitude estimation on APM really that bad during sustained turns? Is for instance  autonomous thermalling even possible?  (and by this i mean only climbing in a thermal not finding it which is a whole different can of worms ;) )"
Feb 14, 2014

Profile Information

About Me:
I'm a student of Robotics from Poznan University of Technology in Poznan, Poland. I'm also a glider pilot.
Please tell us a bit about your UAV interest
I have an intrest in IMU's and flight augmentation
Hometown:
Poznan

Comment Wall (3 comments)

At 4:51pm on November 9, 2011,
T3
William Premerlani
said…

Hi Wojciech,

You said:

"Hi
I already contacted Doug, and unfortunately as far as he knows there were none successful attempts.

I was looking at what you wrote in the comments and at your code and as far as the 'dead reckonig' the code is fairly simple but some questions still emerge:

1.How is the GPS latency problem tackled? I see that you feed the error back into the estimates but how that including the data latency?
2.How is the problem with coordinates solved? GPS gives you absolute position and the IMU data is relative movement...

Sorry if i ask the obvious questions, I'm not very familiar with Matrixpilot code

Best Regards
Wojciech Batog"

 

1. There are several ways to account for GPS latency. I have tried two different methods. The first method that I used was to filter the IMU data with a model of the GPS before comparing it with the GPS data. This method did not work so well. The second method that I like and that I now use a simple geometrical computation that plots a polygonal helix to estimate where the plane really is during a steady turn. If you want to look at the code, it is in the GPS parser. Since the dead reckoning is working primarily from accelerometer data, all you need from the latency compensation is to eliminate bias.

 

2. In MatrixPilot, all positions (GPS or IMU) are computed in relative coordinates. There is an origin. The origin is subtracted from each GPS reported position to get a relative position. The IMU positions are also measured relative to origin. The origin can be either the location of the plane on power up, or you can specify a fixed origin.

 

We have been using dead-reckoning in MatrixPilot for some time. It works quite nicely. For example, it continues to provide accurate estimates of position during portions of aerobatic flights that defeat the GPS, such as a straight down spinning dive.

 

Best regards,

Bill 

At 2:36pm on November 10, 2011, Wojciech Batog said…

This is very interesting. I didn't look at the GPS parser before. Now I look at the code and and try to figure it out.

I don't yet get how you can simply compute the error with accelerometer and GPS data since theoretically those should (!) be different (movement since last GPS position).

Is this geometrical computation a predictor algorithm of sorts?

In my implementation of this algorithm i'd like to also include Height data from the pressure sensor - which would have some lattency of it's own so I think that good understanding of this latency issue is very important.

Best regards
Wojciech

At 1:35am on August 23, 2012, Marooned said…

Greetings from Poznań! :)

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