Any one working on a 9 Axis IMU?

I am getting started on developing an IMU for the paparazzi system. Anyone that would like to throw in their comments and ideas would be appreciated. In the end I can read the tech docs and come up with a lot of the values myself but I might need an electronics genius to help me out eventually.

I am looking at developing around a few sensors here.

Gyro: http://www.sparkfun.com/commerce/product_info.php?products_id=9801

Triple-Axis Digital-Output Gyro ITG-3200


Mag: http://www.sparkfun.com/commerce/product_info.php?products_id=244

MicroMag 3-Axis Magnetometer

Accel: http://www.analog.com/en/sensors/inertial-sensors/adxl325/products/product.html

Analog Devices ADXL325

The guys and gals over at vector Nav hae done a great job with their Sensors
http://www.vectornav.com/vn-100-features

However, I am interested in learning for myself and prototyping rather than having someone do the work for me. Yes I might just buy their sensor to get myself up and running but I am more interested in the learning process of the hardware itself and the programming.

Eventually, all of this will be placed into a higher speed UAV that I am trying to design at the moment. Jet engine based system with thrust vectoring and quick control surfaces. I know that I am merely skimming the surface of the art of IMUs but I am wondering what I can accomplish with my own two hands and what we can accomplish as a community.

You need to be a member of diydrones to add comments!

Join diydrones

Email me when people reply –

Replies

  • Developer
    Sure we have done 9 axis IMUs and AHRS systems using them. Quite a few in this community; UAV Dev Board, ArduIMU with external magnetometer, ArduPilotMega with external magnetometer, Sparkfun 9DOF Razor, etc.

    The place to start your investigation is understanding the different types of filters which can produce a useful AHRS system from an IMU for use in an airframe that is not moving slowly. This is where many (most perhaps) fail. For example VectorNav (at least the last time I looked) fails to account for centripetal acceleration, making their IMU fairly worthless in an aircraft moving with any velocity to speak of. The DIYDrones "mainstream" is to use a fixed gain filter based on an approach developed by Bill Premerlani using the direction cosine matrix. Others in the community use Kalman filters, which require a little more processing horsepower than you get with Arduino processors, but which can synthesize more data sources into a solution.

    I have not played with anything as radical as a turbine airframe, but I did get a foam pusher to fly at rooftop level at about 100km/hr very close in around a building to win a competition. My IMU had no problem with high roll rates, high centripetal forces, and tightly banked turns. The gyros you are considering are much better than the gyros in that IMU. We are considering the ITG-3200 for several upcoming projects here as well.

    Good luck!
This reply was deleted.

Activity

DIY Robocars via Twitter
Friday
DIY Robocars via Twitter
RT @_JonMyer: 🏎 We need your help in naming my #AWS DeepRacer Underground Track 🏎 @davidfsmith's track is going to be referred to as 𝗔π—ͺ𝗦 𝗗…
Thursday
DIY Robocars via Twitter
RT @gclue_akira: δ»•δΊ‹γ‚‚γŠγ‚γ£γŸγ—γ€ι›»θ„³εŒ–γ«γ¨γ‚‰γ„γ€€#γƒžγƒͺγ‚ͺγ‚«γƒΌγƒˆγƒγƒƒγ‚― https://t.co/4IU90hCLgm
Thursday
DIY Robocars via Twitter
This is the hashtag to follow all the people in Japan who are hacking the new Nintendo Mario Kart with the real AR… https://twitter.com/i/web/status/1319281354664677376
Thursday
DIY Robocars via Twitter
RT @gclue_akira: @chr1sa @diyrobocars jupyter mario https://t.co/P0oHdjlCRq
Thursday
DIY Robocars via Twitter
RT @_JonMyer: 🚨Our 1st AWS DeepRacer Community Race is Underway on http://twitch.tv/aws 🚨 Join us to find out which member of your commu…
Oct 20
DIY Robocars via Twitter
Oct 19
DIY Robocars via Twitter
RT @BackyardRobotcs: After an admittedly long wait, the new Tinymovr R3.3 motor controller is now available https://tinymovr.com πŸ₯³
Oct 19
DIY Robocars via Twitter
RT @_JonMyer: 🏎 1 hr left before the #AWS #DeepRacer Community 🏎 Top 5 Race tomorrow LIVE on Twitch 1st Place = $50 Amazon GC or AWS Credit…
Oct 19
DIY Robocars via Twitter
Oct 16
DIY Robocars via Twitter
Oct 15
DIY Robocars via Twitter
Oct 14
DIY Robocars via Twitter
RT @davidfsmith: Race virtually with The AWS DeepRacer Community Race and then join us on the track to see how your times compare on the ph…
Oct 14
DIY Robocars via Twitter
Oct 14
Hiroki Tanaka liked Hiroki Tanaka's profile
Oct 13
DIY Robocars via Twitter
RT @breadcentric: It's now!
Oct 13
More…