**the yellow line --> Actual Gyro angle in degrees(oops they do drift...look below)BLACK line --> Kalman+gyro+acceleroREd--> accelro degrees(oops it jitters)**im usin IMU v2 6DOF by sparkfun...im using the IMU in BINARY(wowee binary is fun)THE GCS i have made in VS C# has 3 displays1) Telemetry2)Real Time Vehicle Tracker(a Google map backgorund scaled to gps pts)3)Live Video Relay (video can be processed for objects as small as human ,mines, its can detect patterns if sign is give...have also developed a damn good image processing using SIFT(oops it gives 0.25 FPS hehe..but other r really fast))...all developed in MATLAB.this 1 gives 0.25 FPS....but its good (ref. Dr. Lowe)...any suggestions...most welcome...

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## Comments

Hi Dubey, I am currently conducting same project as yours, by using kalman filter for fusion accelerometer and gyro implemented on Matlab. if you don't mind could you share your matlab code about it as my additional reference. it's my mail: prindi.wibowo@gmail.com

thank you...

I am a Naval Architect and seeing all this fascinating stuff from you alike guys, I too want to start this hobby.I am in possession of a HIROBO rcHeli which I want to turn into a UAV.BUT first I need to install a stabilization unit into it; I have chosen an ANALOG DEVICES Triaxial to do this job! As I understand,though feebly, this data from the gyros+Accelerometers needs to be filtered prior going to a PID controller / rc servos.A Kalman Filter / Extended Kalman Filter is employed.I have no erstwhile knowledge of any such programming / mathematics; please can you send me the Kalman code which you have compiled for your project.I have acquired MATLAB and shall give it a try.I want to try this gyro+Kalman+PID outfit over on MATLAB before I transfer the entire code into a DSP???? That is what's up in my mind.Please do forward your kind suggestions; the same would be helpful.

Sincerely,

muhammad

jawadmajidmalik@yahoo.com

I have difficulty for reading the sparkfun 6d0F in MatLab ...

Thanks !

http://web.engr.oregonstate.edu/~hess/index.html

black line is the real estimate.well i have used the EKF as used by rotomotion and jordi(his wii project) for my MATLAB based EKF.if need the code ...i can pass it on...i am still tuning the filter..so lets wait how it works on the real atmega16(...as it is on the PC now)..G-Factor if u see the black line closely its almost 0 deg and i calculated the mean(0.somthing)...so its cool..i can further average the reading to get a better estimate..- on the left is the GPS eval board by SParkfun(hehe wise use of FTDI onboard...im using it to connect my ttl IMU to USB of my laptop)...the IMu is the next green light on right....

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