Inertialsensor - IMU - Versionsgeschichte

Alexanderg am 11. Mai 2017 um 09:20 Uhr

2017-05-11T09:20:59Z

Alexanderg: /* Compass sensor */

2016-06-03T10:28:43Z

‎Compass sensor

Alexanderg: /* Calibration quality test */

2016-06-03T06:24:07Z

‎Calibration quality test

Alexanderg: /* Compass sensor */

2016-06-03T06:23:32Z

‎Compass sensor

Alexanderg: /* Acceleration sensor */

2016-06-03T06:23:19Z

‎Acceleration sensor

Alexanderg: /* Calibration abstract */

2016-06-03T06:23:00Z

‎Calibration abstract

Alexanderg: /* Assembly */

2016-06-03T06:22:35Z

‎Assembly

Alexanderg: /* Sensor fusion */

2016-06-03T06:22:20Z

‎Sensor fusion

Alexanderg: /* Beschleunigungssensor */

2016-06-03T06:21:43Z

‎Beschleunigungssensor

Alexanderg: /* Zusammenfassung */

2016-06-03T06:21:21Z

‎Zusammenfassung

@@ Zeile 6: / Zeile 6: @@
 *feststellen, ob der Ardumower umgekippt ist (Neigungswinkel)
 *regeln einer exakten Geradeausfahrt z.B: für das Mähen in parallelen Bahnen
 = Beschleunigungssensor =

@@ Zeile 98: / Zeile 98: @@
 ==Compass sensor==
-This calibration can be performed outside or inside of the robot (in its final position). Make sure the module is far away from magnetic fields or ferreous sources! Start the compass calibration:
+This calibration can only be performed inside of the robot (IMU in its final position). Start the compass calibration:
 *Via serial console "IMU com calibration start/stop" OR

@@ Zeile 108: / Zeile 108: @@
 ==Calibration quality test==
 For a quality test, you can plot the calibration results (Yaw, Pitch, Roll) via pfodApp. Place the robot on a flat ground and let it rotate (pfodApp: click on "Commands->Auto rotate" until robot rotates). Alternatively, you can let the robot drive a circle (pfodApp: click "Manual->Right" until it drives the desired radius). Finally, choose 'Plot->IMU' to see the calibration result.
-===Table test===
-For testing calibration quality, hold module (parts upside) against a table edge and do not move. Write down the Yaw-value (example: -95,45). Then rotate the module by 180 degree and hold it again against the table edge. Now the Yaw-value should output 180 degree away (example: -95,45 + 180 = 84,55). Repeat this test for both remaining sides of the module.
-−
-<gallery>
-File: Gy80_calibration_check.png
-</gallery>
-−
-... hold module against a table edge ...
-−
- calls=30    yaw=-95.56    pitch=0.02    roll=2.52    com=-95.91    com180=84.09    gyroZ=0.00
- calls=30    yaw=-95.48    pitch=-0.11    roll=2.33    com=-95.81    com180=84.19    gyroZ=-0.01
- calls=30    yaw=-95.42    pitch=0.03    roll=2.42    com=-95.65    com180=84.35    gyroZ=-0.00
- calls=30    yaw=-95.45    pitch=-0.21    roll=2.38    com=-95.35    com180=84.65    gyroZ=-0.00
-−
-... turn 180 degree, hold again against table edge ...
-−
- calls=30    yaw=85.06    pitch=-2.50    roll=0.04    com=84.91    com180=-95.09    gyroZ=-0.03
- calls=30    yaw=84.90    pitch=-2.59    roll=0.05    com=84.63    com180=-95.37    gyroZ=-0.02
- calls=30    yaw=85.19    pitch=-2.55    roll=0.01    com=84.73    com180=-95.27    gyroZ=-0.01
- calls=30    yaw=84.98    pitch=-2.73    roll=0.02    com=84.85    com180=-95.15    gyroZ=-0.01
-−
-If deviation is more than one degree, repeat calibration steps!
-−
-−
-===pfodApp test===
-For a more detailed quality test, you can plot the calibration results (Yaw, Pitch, Roll) via pfodApp. Place the robot on a flat ground and let it rotate (pfodApp: click on "Commands->Auto rotate" until robot rotates). Alternatively, you can let the robot drive a circle (pfodApp: click "Manual->Right" until it drives the desired radius). Finally, choose 'Plot->IMU' to see the calibration result.
 For the yaw plot, the curve should be a straight line when the robot is rotating with a constant speed.
-<gallery>
+[[File: Ardumower_imu_plotting.jpg|300px]]
-File: Ardumower_screenshot_IMU.png
 File: Ardumower_imu_plotting.jpg
-</gallery>
 = Videos =

@@ Zeile 105: / Zeile 105: @@
 Hold each of the 6 module sides to North direction and tilt the module until minimum and maximum of the axis does not change anymore (until no tone is outputted anymore):
-<gallery>
+[[File: Gy80_com_calibration.png|500px]]
 File: Gy80_com_calibration.png
-</gallery>
 ==Calibration quality test==

@@ Zeile 95: / Zeile 95: @@
 Repeat this step for all 6 sides. After all 6 sides are calibrated, you will hear a short melody.
-<gallery>
+[[File: Gy80_acc_calibration.png|500px]]
 File: Gy80_acc_calibration.png
-</gallery>
 ==Compass sensor==

@@ Zeile 65: / Zeile 65: @@
 The origin of a 3D compass point is 0,0,0 (x,y,z) and points to the north pole. If the 3D compass is rotated around all of its axes i.e. all values of x, y and z are measured then these points will lie on a sphere.
-<gallery>
+[[File: Compass_sphere.png |400px]]
 File: Compass_sphere.png
-</gallery>
 If you add a magnetic material (e.g. metal) near the compass, the measured values from the origin (0,0,0) of the sensor suddenly point in one direction only - Why?
@@ Zeile 84: / Zeile 82: @@
 The goal of the calibration is that the measurements are centered again on a sphere around the origin of the sensor.
 =Kalibrierung=

@@ Zeile 55: / Zeile 55: @@
 This photo shows how the IMU module is placed in the driving position (the red arrow shows the driving position). Ensure a minimum distance of 30cm from all motors. This minimum distance seems to be needed to ensure the compass is not disturbed by dynamically disturbing sources (like motors).
-<gallery>
+[[File: Imu_assembly.png  | 400px]]
-File: Imu_assembly.png  | GY-80 assembly
-</gallery>
 =Calibration abstract=

@@ Zeile 37: / Zeile 37: @@
 We use a complementary filter to fusion all sensor values.
-<gallery>
+[[File: Ardumower_sensor_fusion.png  | 600px]]
-File: Ardumower_sensor_fusion.png  | IMU sensor fusion
-</gallery>
 =IMU module=

@@ Zeile 12: / Zeile 12: @@
 Zur Bestimmung der Raumwinkeländerungen beinhaltet die IMU ein Gyromodul.
-<gallery>
+[[File: Ardumower_pitch_roll_yaw.png|400px]]
 File: Ardumower_pitch_roll_yaw.png
-</gallery>
 =Gyro=

@@ Zeile 1: / Zeile 1: @@
 =Zusammenfassung=
-<gallery>
-File:Imu.jpg
+[[File: Imu_assembly.png  | 400px]]
-</gallery>
 Ein Modul namens IMU (Intertia Measurement Unit) ist das Herzstück eines Trägheitsnavigationssystems, mit dem wir folgendes erreichen können: