Difference between revisions of "Inertial Measurement Units"

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obsolete - current status on the [http://paparazzi.enac.fr/wiki/Booz Booz] page.
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== Overview ==
  
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Work is underway to use Kalman code from the Booz project with the Tiny autopilots. The first IMU have been assembled and are being calibrated. Look for updates soon.
  
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The IMU will communicate over SPI with the TWOG/Tiny2.11
  
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[[Image:IMU001.jpg|240px]]
Work is underway to create a complete 17 state [http://en.wikipedia.org/wiki/Kalman_filtering Kalman filtered] inertial navigation solution!  Watch the [http://www.recherche.enac.fr/~poine/video/ahrs2fg.mpeg demonstration video] of the current 7-state system.
 
<gallery>
 
Image:imu_3_top.jpg|Complete IMU head with 3-axis gyro, 3-axis accelerometer, and 3-axis magnetometer
 
Image:ahrs2fg.jpg|[http://www.recherche.enac.fr/~poine/video/ahrs2fg.mpeg video of ahrs driving flightgear]
 
</gallery>
 
The IMU features the following hardware:
 
* Analog Devices AXDRS150 5V 150 deg/s gyros (top left)
 
* MMA7260 3-axis 1.5 - 6g accelerometer (center left)
 
* 3.3V LDO regulator (lower left)
 
* Micromag 3-axis SPI magnetometer (right)
 
* MAX1167 Multichannel, 16-Bit, 200ksps Analog-to-Digital Converter (below Micromag)
 
* LPC2148 ARM7 microcontroller (below Micromag)
 
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Revision as of 20:49, 27 October 2009

Overview

Work is underway to use Kalman code from the Booz project with the Tiny autopilots. The first IMU have been assembled and are being calibrated. Look for updates soon.

The IMU will communicate over SPI with the TWOG/Tiny2.11

IMU001.jpg