Transcript Chris report

Current Works
• Reviewed Homogenous Transformation Matrix
• Determined application to project
– Accel_Sensor=Current_Reading – Calibration_Zero
– Accel_Base= Transfom*Accel_Sensor -Gravity_Base
– Transform simply needs to be a combination of 3 rotation
matrices
• Researched more on Kalman Filter
– Found several useful resources and some sample code
• Implemented model to determine Position from
Acceleration in Simulink
• Researched accessing serial data in Simulink
– MathWorks recommends Instrument Control Toolbox
– Tried user created libraries but did not work
What’s Next?
• Implement Kalman filter in Simulink to
accurately determine orientation
• Determine how to read and parse serial data
in Simulink
• Parts for final model should arrive next
Monday
– Construct final system and test with preloaded
code
– Determine necessary adjustments and implement