I was usiing a micromag compass(guys its a hell experience with mags..im quitting to use mags unless they r 3-axis and magnetically shielded)Now i thinkGPS shud be used ....now that im gonna run it in binary so i expect a 5hz response...(make sure the vehicle moves abt 3m/s "In INDIA" to detect heading)..FInally im developing a QUAD with hitec outrunners
...i have alrdy workedTHE KALMAN FILTER out
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...
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: firstname.lastname@example.org
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.
I have difficulty for reading the sparkfun 6d0F in MatLab ...
- 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....