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Daniel Wee
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AuduIMU Questions
Replied Dec. 11, 2009
Criteria for enforcing orthogonality in the DCM
Replied Nov. 18, 2009
Criteria for enforcing orthogonality in the DCM
3 Replies
Started this discussion. Last reply by Doug Weibel Nov. 19, 2009.
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Fantastic, that's what I have been testing with various gyros. I have a bunch of temperature-drift profiles for about 6 gyros types. The one I am trying to use is the LPR530. The LISY300AL is surprisingly temperature stable though. The ADXRS601 has…
Thanks again Bill. I am actually porting this to a 12-bit ADC platform to see how things work out, hence the questions. I've found that the ADC samples can be quite noisy on my board (what appears to be up to 5-10mV of noise on the samples). I am al…
Thanks Bill. I have looked at the new RollPitchYaw demo and that does make sense now. I cannot, however, find an updated RollPitch demo. Is there one? Or can I just remove the adj_accel, yaw_drift and perhaps some other functions from the imu_demo t…
I am looking at the RollPitch Demo files posted in the link above - assuming that this works with the UAV Dev Board (which uses the LISY300AL or the ADXRS401). But looking at the analog2digital.c file, I am a little confused. First of all the pin as…
Don't forget - on the moon you will get different gravitational readings so your accelerometric code will have to handle that as well.
Daniel
Daniel
Maintaining orthogonality is not the problem. Normalization and enforcing orthogonality is simply math in the algorithm. 3DOF gyros are required for all but shallow bank angles to maintain a converged solution without overly relying on corre…
Thanks Chris. This brings me to the RollYawDemo in the gentlenav directory - that seems to be doing with only 5DOF. Does that mean that if I am purely interested in roll and pitch estimation, it can still be done using the DCM algorithm. This is whe…
That is correct. You also would not be able to correct for centripetal acceleration without a velocity vector
I was looking at Premerlani and Bizard's paper and got thinking about what is needed to enforce the orthogonality of the DCM. From what I can tell you would need to track yaw as well in order for this to work right since this is a 3x3 matrix.
Does…
What happens to the data when you move beyond the sensor's range?
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