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### Topic: \$50 bounty: report pitch and roll minus any acceleration effects (Read 1 time)previous topic - next topic

#### Rob Cameron

#15
##### Jan 23, 2014, 09:31 pm

Then don't try and just use an accelerometer to establish orientation because it doesn't work.

I know, I want to integrate the gyro to make it more accurate, that's what they bounty is for! I want someone to write that code to make it awesome.

#### Rob Cameron

#16
##### Jan 28, 2014, 09:16 pm
No takers? C'mon guys! Why is this so hardddddd

#### JimEli

#17
##### Jan 28, 2014, 09:56 pm

No takers? C'mon guys! Why is this so hardddddd

Two words: kalman filter

#### Rob Cameron

#18
##### Jan 28, 2014, 10:36 pm

No takers? C'mon guys! Why is this so hardddddd

Two words: kalman filter

Hey Jim,

I looked into the Kalman filter and what I found (or at least, the way it was being used in this instance) was to take a large percentage of the read from the gyroscope and add that to a small reading from the accelerometer (plus a certain percentage of the final result from the last read) and use that to determine an object's position. But it required that the object be constantly moving/rotating, like in a self-righting robot. It's always about to tip over so the gyro constantly has changing input. This solution won't do me any good if a vehicle is on a slope, but isn't rotating in any way. 95% of the 0° reading from the gyro plus 5% of the 5° reading from the accelerometer is going to read as almost 0°. (I posted a link of an example of someone using the Kalman filter for his self-righting robot in my first post on the thread.)

To be fair, I don't 100% understand the calculations going on in the Kalman filter, but this is how the Complementary filter works and several sources listed it as a "good enough" replacement for a Kalman filter. So while Kalman may be more accurate, the basic function at the end of the day should be the same as the Complementary.

(I'm actually using a Complementary filter when I display altitude from the barometer to get a smooth reading instead of the raw jumps of +/- 3 feet when sitting at rest.)

Unless my interpretation is completely wrong, in which case please point that out and tell me the secret of how I can get this to work for my project.

#### jremington

#19
##### Jan 28, 2014, 11:54 pm
There are several open source AHRS (Attitude and Heading Reference System) projects around for you to use as a guide. They are intended for navigation, but the "Attitude" part does what you want.

Here is David Grayson's, intended for the Pololu Mini-IMU and the Raspberry Pi: https://github.com/DavidEGrayson/minimu9-ahrs

Finally you can buy self contained modules with code very cheaply these days: http://www.chrobotics.com/

#### Rob Cameron

#20
##### Jan 28, 2014, 11:57 pm

There are several open source AHRS (Attitude and Heading Reference System) projects around for you to use as a guide. They are intended for navigation, but the "Attitude" part does what you want.

Here is David Grayson's, intended for the Pololu Mini-IMU and the Raspberry Pi: https://github.com/DavidEGrayson/minimu9-ahrs

Finally you can buy self contained modules with code very cheaply these days: http://www.chrobotics.com/

Thanks for the links! I'll look into them in the next day or so...if they contain the answer you shall be the winrar!

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