Attitude estimation (Tilt Sensor) w/ Kalman Filter (Roll Only) - Arduino + Processing

Website: http://www.nesinfinity.com

The video is showcasing a Kalman-Filtered Attitude Indicator. It's made from an Ardiuno, a rate gyro, and an accelerometer. The computer is displaying a graph and three artificial horizons which were designed using a program called processing from http://www.processing.org. The left most artificial horizon is the kalman filtered indicator which combines the best qualities of both the accelerometer and the rate gyro. The center one uses only the inputs from the accelerometer while the right most uses only the inputs from the rate gyro. The graph on the left shows the extent of all three. Soon, I should have the pitch axis up and running.

Category:

Science & Technology

Tags:

• Kalman
• Kalman Filter
• Filter
• Gyro
• Gyroscope
• Accelerometer
• Arduino
• Arduino Duemilanove
• IMU
• ADXL
• Tilt Sensor
• Rate Gyro

[YungC3220]

Very nice how you adjusted the attitude to the beat lol. I like how instead of slow ambient background music you went with a good, upbeat engaging song that still has that victorious "look at this" vibe. "Taking over the world 5 classes at a time."--Yung C3

[Ray29erau]

@YungC3220 Appreciate the comment Bro.... 5 Classes at a time!

[danidanko]

Hey this is great! Make it greater, add gps or magnetometer to help with forward motion and centripetal acceleration so your filter works while puling gs in turns :)

[Ray29erau]

@danidanko Thanks bro. That's in the works. I just need the money to buy a mag and a gps. As soon as I do though I will add to it. The ultimate goal is to sometime in the future put this in a Rocket and a DIY UAV.

[shebotnov]

And why is the gyro gives sometimes false reading? Electric noise?

[shebotnov]

could you post a source code of your implementation of the kalman filter ?

[jomelmaldonado]

Very interesting, you are using the best of 2 sensors to calculate a weighted average. The filtered output is very smooth and steady compared to both inputs. Nice job there. I would like to learn how to use the processing program.

[poppinphresh]

This is great. Would you be willing to share your code?

[iAmTr3s]

Perfect! 5 stars.

Nice work! :D