"Jonathan
0.04deg/sqrt(s) value you are getting from allan variance plot. can we use this value directly in our EKF as process noise variance and do you have any idea about Recursive Implementation of Allan Variance?
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Jonathan Brandmeyer
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Jonathan Brandmeyer's Discussions
Gyro behavior on startup, while rotating
Started this discussion. Last reply by Lew Payne Apr 26, 2010. 3 Replies 0 Likes
Allan Variance (plots and code)
Started this discussion. Last reply by shikha jain Feb 27, 2011. 26 Replies 0 Likes
GPS noise performance
Started this discussion. Last reply by Tom Yochum Apr 15, 2010. 5 Replies 0 Likes
Jonathan Brandmeyer's Page
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Jonathan Brandmeyer replied to Jonathan Brandmeyer's discussion Allan Variance (plots and code)"You can use it to tune your attitude filter gains. See http://www.gmat.unsw.edu.au/gnss2004unsw/KIM,%20Hyunseok%20P187.pdf for an example.
For high-quality RLG or FOG, you would need to take data for much longer in order to get an accurate…"
Pizza replied to Jonathan Brandmeyer's discussion Allan Variance (plots and code)"hello guys, other than measuring the goodness of gyro, can you tell me what allan variance is used for? i would very much love to use allan variance to improve the accuracy of these sensors/remove errors from gyro drifts.
could you please explain…"
Jonathan Brandmeyer commented on Jonathan Brandmeyer's blog post GPS-INS EKF library"It isn't entirely hardware independent, but it is flexible. You must have a GPS, accelerometer, and gyro. You should almost certainly also have a vector observer in the form of a magnetometer and/or thermopile. Without the vector observer, the…"
Simon Wood commented on Jonathan Brandmeyer's blog post GPS-INS EKF library"Another great contribution to the OpenSource world, thanks. I didn't see mention of any specific sensor hardware, what are you using or are you aiming to be 'hardware independant'?
One area I am interested in is augmenting GPS…"
Alex commented on Jonathan Brandmeyer's blog post GPS-INS EKF library"I think its great that we have these algorithms, and I'm curious to see what the open source APs are going to do to implement (or not?) them. Even the sort-of latest-and-greatest ArduPilot Mega would be (IMO) hard-pressed to implement something…"
Jonathan Brandmeyer commented on Jonathan Brandmeyer's blog post GPS-INS EKF library"Right now, I'm working on a journal article. If that gets accepted, then I'll be able to publish a preprint. But I think it would inappropriate to self-publish the journal paper before it goes through peer review."
Michael Zaffuto commented on Jonathan Brandmeyer's blog post GPS-INS EKF library"Thanks Jonathan, incredibly kind of you. Does your thesis discuss your implementation in further detail?
Thanks"
Jonathan Brandmeyer posted a blog postGPS-INS EKF library
I've been writing a GPS-INS integration EKF for my Master's research. This may be the first implementation of this algorithm to be published as Open Source software and you can find it on bitbucket. See also some discussion on the OpenPilot forums.See More
Jonathan Brandmeyer replied to Martin Seven's discussion Triple-axis gyro for quads?"You are probably right that much of the nonlinearity can be calibrated out. But, that calibration will have to be performed on a per-device basis, which adds a lot of labor cost to the board. Either DIYDrones.com would have to raise the price to…"
Jonathan Brandmeyer replied to Martin Seven's discussion Triple-axis gyro for quads?"It has relatively poor initial bias stability. The turn-on bias is +/- 20 deg/s, with an additional 20 deg/s swing over the temperature range, according to the datasheet. It's possible that they got those terms mixed up, and all of the initial…"
Jonathan Brandmeyer replied to dl7uae's discussion Orientation of HMC5843 matching the compass code in ArduIMU?"Sorry, I totally misunderstood your post, earlier Mark. Yes, it is clear that the ArduIMU is using a 3d magnetic field model."
Jonathan Brandmeyer replied to dl7uae's discussion Orientation of HMC5843 matching the compass code in ArduIMU?"/quote:
When aligned properly the magnetic course will change slightly (+/- 3) when both IMU & Compass are rolled on Y axis or pitched on X axis but, will show proper directional changes when rotated about Z axis.
Wait, what?? This is a…"
Lew Payne replied to Jonathan Brandmeyer's discussion Gyro behavior on startup, while rotating"I believe he asked about MEMS gyros, not laser ring gyros.
A MEMS gyroscope is a vibrating structure gyroscope. It can be implemented as the tuning fork resonator, vibrating wheel or (planar) wine glass resonator. You might find the Watson report,…"
Jonathan Brandmeyer replied to will y.'s discussion Flight simulator joystick as control?"Option 1) Use the telemetry link between the GCS and the vehicle to provide commands using some kind of native PC digitial interface. Depend utterly on your wireless modem for all control, whether that modem is an XBee, or a 900 MHz modem, WiFi or…"
Jonathan Brandmeyer replied to Jonathan Brandmeyer's discussion Gyro behavior on startup, while rotating"That is my guess as well, but I am hoping for a report of the form "using vendor x's gyro model y, I actually observed z"."
Profile Information
- About Me:
- ME graduate student at North Carolina State University.
An alumnus of the NCSU Aerial Robotics Club.
Currently employed full-time at Eaton Corporation as a software engineer in the power quality division.
Jonathan Brandmeyer's Blog
GPS-INS EKF library
Posted on June 28, 2010 at 7:45pm 5 Comments 0 Likes
I've been writing a GPS-INS integration EKF for my Master's research. This may be the first implementation of this algorithm to be published as Open Source software and you can find it on bitbucket. See also some discussion on the OpenPilot forums.
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