IMUDOT demo of direction-cosine-matrix algorithm

Comment by Matt Fisher on April 22, 2009 at 9:44am

Drool.

Comment by Dez Ellis on May 4, 2009 at 7:30am

Hi,
Anyone know where the demo code for the PC or something very simlar can be obtained?

Comment by Louis LeGrand on May 4, 2009 at 2:46pm

Greetings,

The PC code is dead simple. Here is a link to the code http://dl.getdropbox.com/u/538584/demo.py. It is written in python, using the "visual" module, which can be obtained here: http://vpython.org/. Most of the code is just parsing the DCT message that comes over the serial port via bluetooth. Let me know if you have questions.

Comment by Dante on May 21, 2009 at 12:51pm

Louis,
Impressive example of the implementation of DCM.
What elements of the matrix are you computing in order to output the full orientation of every axis?
Congrats.

Comment by William Premerlani on May 21, 2009 at 1:46pm

@Dante,

Louis is computing all 9 of the matrix elements. The rows and columns of the direction cosine matrix can be thought of as the transformation of earth axes to the body frame, and the transformation of the body axes to the earth frame. So all you have to do is think of the 9 matrix elements as being 3 vectors, and plot those three vectors.

Louis mentions in his video that the computations are being done in the "InertiaDot IMU" board that he is demonstrating. The board has 3 axis gyros, accelerometers, and magnetometers.

Bill

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