FOX AHRS
Daisy 7 and Fox G20 - AHRS KIT
FOX AHRS demo system by Federico Lolli. Open source software demo that integrate data incoming from the DAISY-7 gyroscope, accelerometer and magnetometer using a Kalman filter and provide a stream of orientation/position data on USB gadget port, serial port, UDP socket. The software include a windows based graphic user interface that shown all data in real-time.
FOX AHRS is a small size and low weight measurement unit, excellent for control and navigation of (un)manned systems and other equipments.
The FOX AHRS is a GPS aided MEMS based Inertial Measurement Unit (IMU) and static pressure sensor. It delivers unprecedented performance for its size, weight, cost and low complexity in use.
It was designed to be the most versatile IMU and AHRS platform available. Its host of on-board sensors, algorithms, real-time communication via USB device port and Ethernet. The on-board SD card, real-time clock/calendar and motion trigger wake up also make the FOX AHRS an ideal standalone data logger.
A window based AHRS graphic user interface can be used to configure, shows real-time measurements and export data to othet softwares as like as Microsoft Excel, Matlab, etc.
Output
- 3D Orientation (360°)
- 3D Position
- 3D acceleration, 3D rate of turn, 3D magnetic field
On-board sensors
- Digital triple axis accelerometer magnetometer and gyroscope
- Digital-output X, Y, and Z-Axis ±2g ±4g ±8g dynamically selectable full-scale acceleration
- Digital-output X, Y, and Z-Axis angular rate sensors (gyros) on one integrated circuit with a range of 250/500/2000 °/sec
- Digital-output X, Y, and Z-Axis ±0.88/1.33/1.9/2.5/4.0/4.7/5.6/8.1Ga dynamically selectable full-scale magnetometer
- Fast and low noise 10hz GPS
- Digital pressure sensor 0.03hPa (resolution 0.25m) ultra high resolution
- Fast Mode I2C (400kHz) and serial interface
- 16 bit data output ADCs provide simultaneous sampling of gyros and acceleration while requiring no external multiplexer
- 10000 g high shock survivability
- Enhanced bias and sensitivity temperature stability reduces the need for user calibration
- RoHS and Green compliant
On-board algorithms
- IMU and AHRS algorithms provide real-time measurement of orientation relative to the Earth
- Internal states updated at 256 Hz
- Selectable kalman filtering algorithms
- Open source code and algorithms
Connectivity
- USB
- ethernet
- Micro SD card
- UART
Power options
- USB
- LiPo battery
- External source from 5V
AHRS GUI Software
The AHRS GUI (Graphical User Interface) provides interface to all features and functionality of the FOXAHRS USB. The AHRS GUI is open source and so is intended to serve as a comprehensive template for those using the AHRS to develop their own applications
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Comment by federico lolli on June 11, 2012 at 2:15pm
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Moderator Comment by Roberto Navoni on June 11, 2012 at 3:20pm -
Hi Federico,
change Barometer is not so good :) What about your EKF ?
Best
Roberto
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Comment by Michael Zaffuto on June 11, 2012 at 8:14pm -
Hi Roberto, Federico has all support code here (EKF too): https://github.com/FedericoLolli
The Fox Board G20 (400Mhz Atmel AT91SAM9G20 - 256KB FLASH, 64MB RAM, 16GB SD)
running linux is powerful. The ARM926EJ-S has built in fixed point DSP support via ARMv5T instruction
extensions, the primitives can be used to speed up floats, but your 168Mhz Cortex STM32F4
MultiPilot32 with native floating point DSP is probably faster doing floating point EKF,
would be interesting to compare.
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Comment by federico lolli on June 12, 2012 at 12:44am
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I'm using the barometer and I can get a resolution of 0.5 m.what is the best?
I am currently using this Kalman filter
yes probably at the moment the beast solution for compute EKF is the Cortex STM32F4, but I prefer the flexibility of Linux solutions for future use. (wireless Bluetooth webcam )
migrating to a cotrex A8 2x1Ghz is even possible to process ad example the video from a camera ecc..
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Moderator Comment by Roberto Navoni on June 12, 2012 at 1:26am -
Hi Federico,
good news for your new development A8 dual core is great micro , so i'm working on same platform for next revision of my BRAIN :) We can join force ?
Visto che siamo tutti italiani ... Spada mi ha parlato molto bene di te' e dei vostri prodotti .
Un saluto
Roberto
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Comment by ThomasB on June 12, 2012 at 1:58am -
@Federico
Try the MS5611, up to 0.1 m resolution :)
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Comment by federico lolli on June 12, 2012 at 2:03am
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si sto cercando collaboratori da un sacco dato che con solo il mio tempo si va avanti poco o niente...
vorrei riuscire a creare qualcosa di veramente flessibile e potente in modo da andare oltre le comuni schede sutopiloti o Sas. In questo modo integrare tecnologie non so tipo l'optical flow per il volo stazionario, streaming video in wireless, possibilitá di ricevere comandi da iphone o dispositivi android ecc...
insomma andare oltre i soliti micro per rendere l'autopilota integrato con le piú moderne tecnologie consumer.
Federico
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Comment by ThomasB on June 12, 2012 at 2:24am
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@Federico
I assume the GUI Software is based on the project from Sebastian Madgwick (http://www.x-io.co.uk/node/8), right?
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Comment by federico lolli on June 12, 2012 at 2:35am
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yes I have used the same images and opengl code to create the cube.I must still add to the gui the calibration algorithm start command that for now you can only run over SSH.
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Moderator Comment by Roberto Navoni on June 12, 2012 at 2:54am -
Hi Federico , my skype account is : virtualrobotix i would like meet you to discuss about our project :)
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