I'm trying to develop an IMU for my Arduino-based UAVS (heli) project. In my first test I just used a three-axis accelerometer, but it didn't work because the motor vibration generated too much noise. I then tried it just with gyros, but of course the the gyros drifted. So I learned through experience what everyone already knows: that the onlyway to make a good IMU is by mixing accelerometers with gyros andKalman Filters, which is eventually what I did ;-)
I ran a test to see how my IMU is responding, and I made a line chart to see the results. The test consists of rotating the device to 70 degrees and then shake it, to see how the filters reduce the "noise". It looks pretty good:
The samples was taken every 20 miliseconds, the blue line is just accelerometer and the red line is Accelerometer+Gyros+KalmanFilters.
Source code here: ArduIMU Beta1
Special thanks to Tom Pycke
Comments
i can also no access the file.
Would you please forward the files to my email address,
pcarlini@freenet.de.
Thanks, Pablo
I can not access http://jordii07.googlepages.com/ArduIMU_infra_beta1.txt, ....I dont know why
Please can you email me that article? thank you very much!
rodolphe_ripans@hotmail.com
Is the source code available somewhere? I am interested in building on this code to go to 6 DOF, but I wanted to see how this code works.
Thanks!
I bought an single axis XV 8100CB gyro.But I can not understand how to detect an angle along to z axis. I have a 3 axis acc.Later on I composed acc. and gyro. but firstly ı want to understand how gyro works.(I know only gyro measurement makes a drift it is not important for me in first step.)Thanks..
The actual autopilot is more sophisticated than that, of course, but we're not ready to release the code yet.