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Current Works

Current Works. Corrected unit conversions in code Found an error in calculating offset (to zero sensors) Fixed error, but still not accurately integrating to correct velocity/position Collected data on rotations, constant motion in one direction, and when stationary

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Current Works

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  1. Current Works • Corrected unit conversions in code • Found an error in calculating offset (to zero sensors) • Fixed error, but still not accurately integrating to correct velocity/position • Collected data on rotations, constant motion in one direction, and when stationary • Orientation data is fairly accurate, but gyroscopes do drift over time • Accelerometer data needs more precise filtering • Tried low pass, high pass, and started testing a band pass filter on accelerometer data • High pass should remove error due to incorrect offset • Wrote Kalman filter m file for roll orientation

  2. Stationary Test

  3. Rotation Test

  4. Move 1 meter in Y Direction

  5. What’s Next? • Find and implement optimal filter for acceleration • Test on planar motion displacement • Test Kalman filter for orientation • Integrate transformation matrix code to begin testing with 3D motion

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