How to develop inertial navigation applications for CAN BUS.





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Published on Jul 24, 2019

How to develop inertial navigation applications for CAN BUS.

WHY and HOW to integrate Inertial Measurement Unit sensor technology with CAN communications in a variety of vehicle types and classes.

The video covers what exactly is an IMU and what is CAN BUS and quickly dives into a discussion of how to create a custom CAN BUS application using an Open Source IMU sensor.

The video compares various debugging tools including tools offered by PyCAN Shield, Komodo and Vector. It also discusses the differences between CAN 2.0A and CAN 2.0B as well as a deep dive into the J1938 standard including the Address Claim feature. Finally, the video shows how to build and code custom CAN Bus 2.0A and CAN BUS 2.0B IMU autonomous vehicle guidance applications.

CAN 2.0A vs CAN 2.0B
04:00 Debugging CAN Applications (PyCAN Shield, Komodo CAN Solo, Vector VN1630A CAN/LIN Interface,
05:00 Building and coding an IMU Based CAN 2.0A application
07:50 All about the SAE J1939 standard – Address Claim
10:00 Building and coding an IMU Based CAN 2.0B application issuing the SAE J1939 Standard

All about CAN and IMU Technology

CAN (Controller Area Network) is a robust and mature vehicle bus standard that allows devices to communicate with each other. Now over thirty years old, CAN is used on virtually all passenger vehicles as well as heavy equipment. As autonomous vehicles require many sensors to reliably exchange data, CAN is now recognized as an excellent interface choice for a variety of low and medium speed vehicle sensors such as the Wheel Speed Sensor, Steering Angle Sensor, Throttle Position Sensor, and the Inertial Measurement Unit.
Inertial Measurement Units (IMU’s) consist of three axes of acceleration plus three axes of angular rate measurements that are the linear and rotational components of a vehicle respectively. Not to be confused with single chip accel/gyro integrated circuit solutions, a temperature compensated and calibrated IMU module delivers nearly zero bias drift over temperature and operating conditions. An IMU may also include three axis of magnetic field measurement used for electronic compass functionality.
In an autonomous vehicle, CAN is used to pass IMU data to other sensors as well as the main vehicle control i.e., the vehicle’s brain. It is possible to use the CAN bus to share IMU data with up to 20 other vehicle subsystems. This can include LIDAR, Camera, Radar as well as primary compute engines all benefitting from one centrally mounted high-performance IMU on the vehicle.
A CAN bus based IMU application can also listen to other messages on the bus. This is a quite powerful feature. For example, the Dynamic Tilt algorithm could be performance enhanced by listening to messages such GPS/INS for precise localization and Odometer or Vehicle Speed to better compensate for the influence of linear acceleration on dynamic roll and pitch.

The associated CAN Bus whitepaper is available as a free download at https://www.aceinna.com/publicationDe...

ACEINNA Inc., headquartered in Andover, Massachusetts, provides leading edge MEMS-based sensing solutions that help our customers improve the reliability, cost, features, and performance of their end products and equipment. In 2017, ACEINNA was spun off from MEMSIC which is now a part of a public company. ACEINNA has been developing MR based sensor and magnetic thin film manufacturing for 15 years. ACEINNA provides a proven technology platform with over 300M MR based electronic compass units that have been integrated into mobile devices, automotive and industrial applications. The company has manufacturing facilities in Wuxi, China, and R&D facilities in San Jose CA, Andover MA, and Chicago IL.

ACEINNA Inc., One Tech Drive, Suite 325, Andover, MA 01810
Tel: 978-965-3200 Fax: 978-965-3201
Email: info@aceinna.com
Web: https://www.aceinna.com


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