Transcript Chris report

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
Stationary Test
Rotation Test
Orientation (Blue=x, Green=y, Red=z)
Acceleration (Blue=x, Green=y, Red=z)
100
15
X: 1564
Y: 90.12
X: 798
Y: 9.444
10
50
X: 1564
Y: 11.05
5
0
0
-50
-5
X: 797
Y: -90
-10
-100
-15
-150
0
500
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3500
4000
0
500
1000
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Move 1 meter in Y Direction
Acceleration (Blue=x, Green=y, Red=z)
1.5
Velocity (Blue=x, Green=y, Red=z)
0.6
1
0.4
0.5
0.2
0
0
-0.5
-0.2
-1
-0.4
-0.6
-1.5
-0.8
-2
0
500
1000
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2000
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3500
0
500
1000
4000
Position (Blue=x, Green=y, Red=z)
4
2
0
-2
-4
-6
-8
0
500
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3500
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1500
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3500
4000
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