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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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Presentation Transcript


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


Move 1 meter in Y Direction


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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