I just realized I should have posted my question here, instead of on the blog page. I'm not sure of the forum etiquette, so I'll just post a link here and you can respond here or there:

http://diydrones.com/profiles/blogs/accelerometer-question-for-imu

Thanks
Roy

Views: 3623

Reply to This

Replies to This Discussion

I am coming in late to this discussion, but there is a very nice, detailed description of quad rotor dynamics in this Stanford paper. There are a lot of good reference papers available on their site if you want to go deeper into things. BTW, the paper I linked to above is the 2nd reference on their Conference Papers page.

-Garry
I happened to come across this paper in my web travels

http://hal.archives-ouvertes.fr/docs/00/42/24/23/PDF/quadri_acceler...

which basically re-iterates what Bill Premerlani said, in more quantitative terms. It also points out what I had found - that many papers overlook this key component of quadrotor physics. It also explains why quads designed around the deficient models still work OK.

- Roy

Is there a way other than going through the whole DCM algorithm for just correcting gyro-drift using an accelerometer?

What are you trying to do?

The DCM already corrects for gyro drift using the accelerometers.  That's the sole reason for it's existence.

I am trying to decide the cut-off frequency to be used for a complementary filter based on the gyro-drift error that the DCM gives. What I wanted to know is if there's another way to directly use the accelerometer and magnetometer readings to compensate for gyro drift?

Reply to Discussion

RSS

Groups

Season Two of the Trust Time Trial (T3) Contest 
A list of all T3 contests is here. The current round, the Vertical Horizontal one, is here

© 2019   Created by Chris Anderson.   Powered by

Badges  |  Report an Issue  |  Terms of Service