Sensor Fusion using Kalman Filter

This is a demo showing Kalman filtered readings of an inertial measurement unit (IMU) as compared to non fused data from accelerometers of the IMU only.

This was a test setup to check the IMU and Kalman filter before adding them to the newest version of Flyper, our autonomous helicopter at De Montfort University.

For more information please check out my webpage at
http://www.cse.dmu.ac.uk/~benpassow

Supported by the IOCT and the CCI at the De Montfort University, Leicester, UK:
http://www.ioct.dmu.ac.uk
http://www.cci.dmu.ac.uk
http://www.dmu.ac.uk
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Category:

Education

Tags:

• Kalman
• filter
• Autonomous
• Helicopter
• Flyper
• Flying
• Performing
• Robot
• De
• Montfort
• University
• CCI
• IOCT

[kynaniska83]

This would be great solution for camera stabilizer in rc aerial photography. Does it drift at all?

[TheCCI]

Yes, it would propably work nicely in this application. Due to fusing the data of the gyro with the accelerometer there is no drift. The system only experienced some drift with extreme vibration - a whole lot more than in the video.

[uwlu76227]

Hey! Very nice work! Just one question. Which software did you use to build the idicator of the artifical horizons?

[TheCCI]

Thanks, the graphical front end was written in C using the OpenGL libraries. We used the Dev-C++ IDE, so the compiler was GCC but under windows.

[superballistic]

can you do a full 360 degree turn..........because in my filter for estimation of tilt angle in a single plane (Using a accelerometer and a gyroscope) my filter value goes crazy when my accelerometer value jumps from 180 degree to -180 degree.

[TheCCI]

I have the same problem with my setup. I checked out your video and the bahaviour of the kalman seems to be similar in both our systems.

Fortunately, I do not need to fix this: The autonomous helicopter using the IMU and Kalman filter is not capable of flying up-side-down and thus the Kalman filter will never get this kind of input.

[Serpico261]

@amsunaakage shouldnt it be obvious that only the left side is acceptable?

[amsunaakage]

I don't get it so which is suppose to better, the right side or the left side : / ?

For me i think both are fine but since i haven't done my project yet so i don't know who much this would affect the overall outcome.

[NosekeTV]

Naic shawt.

[pepa547]

hello, congratulations for your project, I have a query that country are?. well ah tell them it always been my dream project, working with these systems and believe me what I long to do my own inertial platform, I can ask for help employed to carry out this application in visual c + + or 2008 please.

thanks

I await your response

[Xormithan]

@TheCCI Not under normal flight conditions anyhow. :p

[Kaeles]

@superballistic If you are using euler angles this is always a problem, its called gimble lock, you should be able to avoid this using quaternians.

[rorey10]

@TheCCI: I need something like this in my project too. could you pls give some details on the circuitry and sensors. thank you.

[s3rox]

cool can you send me the source?