inertial-navigation

Position calculation of small model of a car using Accelerometer + Gyroscope

由 天涯浪子 提交于 2020-01-01 19:22:17
问题 I wish to calculate position of a small remote controlled car (relative to starting position). The car moves on a flat surface for example: a room floor. Now, I am using an accelerometer and a gyroscope. To be precise this board --> http://www.sparkfun.com/products/9623 As a first step I just took the accelerometer data in x and y axes (since car moves on a surface) and double integrated the data to get position. The formulae I used were: vel_new = vel_old + ( acc_old + ( (acc_new - acc_old )

Indirect Kalman Filter for Inertial Navigation System

由 核能气质少年 提交于 2019-12-05 02:56:07
问题 I'm trying to implement an Inertial Navigation System using an Indirect Kalman Filter . I've found many publications and thesis on this topic, but not too much code as example. For my implementation I'm using the Master Thesis available at the following link: https://fenix.tecnico.ulisboa.pt/downloadFile/395137332405/dissertacao.pdf As reported at page 47, the measured values from inertial sensors equal the true values plus a series of other terms (bias, scale factors, ...). For my question,

Position calculation of small model of a car using Accelerometer + Gyroscope

由 …衆ロ難τιáo~ 提交于 2019-12-04 19:33:31
I wish to calculate position of a small remote controlled car (relative to starting position). The car moves on a flat surface for example: a room floor. Now, I am using an accelerometer and a gyroscope. To be precise this board --> http://www.sparkfun.com/products/9623 As a first step I just took the accelerometer data in x and y axes (since car moves on a surface) and double integrated the data to get position. The formulae I used were: vel_new = vel_old + ( acc_old + ( (acc_new - acc_old ) / 2.0 ) ) * SAMPLING_TIME; pos_new = pos_old + ( vel_old + ( (vel_new - vel_old ) / 2.0 ) ) * SAMPLING
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