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Topic: Calculating Vehicle Position with an IMU (Read 1 time) previous topic - next topic

unh2013

I am working on a project with a friend from school and we are looking for possible position estimation algorithms for an IMU.  We are using the 9DOF Razor IMU from Sparkfun which has a 3-axis accelerometer, 3-axis gyroscope, and a 3-axis magnetometer and are look for some suggestions on algorithms or helpful resources.  We have tried a variation of DCM that has been off by miles with less than a minute drive and does not even remotely match the shape.  We realize that the measurements will have a decent amount of error no matter because we are integrating the accelerameter measurement twice and amplify the error a great deal but we are just trying to get something a rough estimate that is in within an order of magnitude, and has a shape somewhat resembling the actual path.

michinyon

Those gadgets are useful for orientation,   which is important for aircraft  but not very useful in an automobile,   unless you are interests in observing the vehicle rolling over.

You'd be better off looking at GPS.

unh2013


Those gadgets are useful for orientation,   which is important for aircraft  but not very useful in an automobile,   unless you are interests in observing the vehicle rolling over.

You'd be better off looking at GPS.


I already built a GPS system and it is working fine, we want to work on the INS system in the event that GPS is unavailable (like in a tunnel).  I am just looking for any good advice, code, or resources on estimating position with an IMU.

jjspierx

I had an old Stack data acquisition unit for my kart.  Thing is probably 10 years old or older now.  It had an accelerometer in it which it used to derive track maps.  This was a long time ago, and it didn't use a gyro or magnetometer, just an accelerometer.  The track maps visually looked very accurate, although I can't say exactly how accurate, and to scale they were, but visually it did a very good job.  Accelerometer data is very noisy, so if you are just integrating the raw data, I would imagine the results to be awful.  You are going to want to use some form of complimentary filter or Kalman filter to integrate to determine your position.

MarkT


I am working on a project with a friend from school and we are looking for possible position estimation algorithms for an IMU.  We are using the 9DOF Razor IMU from Sparkfun which has a 3-axis accelerometer, 3-axis gyroscope, and a 3-axis magnetometer and are look for some suggestions on algorithms or helpful resources.  We have tried a variation of DCM that has been off by miles with less than a minute drive and does not even remotely match the shape.  We realize that the measurements will have a decent amount of error no matter because we are integrating the accelerameter measurement twice and amplify the error a great deal but we are just trying to get something a rough estimate that is in within an order of magnitude, and has a shape somewhat resembling the actual path.

Air or land-based?
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