UAS/Notes/IMU

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Revision as of 23:36, 12 September 2011 by 67.91.85.142 (talk)
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Inertial Measurement Unit (IMU)

The IMU was are going to create will consist of an 3 axis acceleration, a 3axis gyroscope, a 3 axis magnetometer, and a barometer. These combined will give us 10 degrees of freedom.



some algorithum i found

  • Read the 3 axis magnetometer data
  • Calculate the "tilt compensated" x and y magnetic component (standard formulation):
    • CMx = mag_x*cos(pitch) + mag_y*sin(roll)sin(pitch) + mag_z*cos(roll)sin(pitch) CMy = mag_y*cos(roll) - mag_z*sin(roll)
  • Calculate the magnetic heading with this compensated components:
    • MAG_Heading = Atan(CMy/CMx)
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