Current Works• Corrected unit conversions in code• Found an error in calculating offset (to zero sensors)

– Fixed error, but still not accurately integrating to correct velocity/position

• Collected data on rotations, constant motion in one direction, and when stationary– Orientation data is fairly accurate, but gyroscopes do drift

over time– Accelerometer data needs more precise filtering

• Tried low pass, high pass, and started testing a band pass filter on accelerometer data– High pass should remove error due to incorrect offset

• Wrote Kalman filter m file for roll orientation

Stationary Test

Rotation Test

0 500 1000 1500 2000 2500 3000 3500 4000-150

-100

-50

0

50

100

X: 1564Y: 90.12

Orientation (Blue=x, Green=y, Red=z)

X: 797Y: -90

0 500 1000 1500 2000 2500 3000 3500 4000-15

-10

-5

0

5

10

15

X: 1564Y: 11.05

Acceleration (Blue=x, Green=y, Red=z)

X: 798Y: 9.444

Move 1 meter in Y Direction

0 500 1000 1500 2000 2500 3000 3500 4000-2

-1.5

-1

-0.5

0

0.5

1

1.5Acceleration (Blue=x, Green=y, Red=z)

0 500 1000 1500 2000 2500 3000 3500 4000-0.8

-0.6

-0.4

-0.2

0

0.2

0.4

0.6Velocity (Blue=x, Green=y, Red=z)

0 500 1000 1500 2000 2500 3000 3500 4000-8

-6

-4

-2

0

2

4Position (Blue=x, Green=y, Red=z)

What’s Next?

• Find and implement optimal filter for acceleration– Test on planar motion displacement

• Test Kalman filter for orientation• Integrate transformation matrix code to begin

testing with 3D motion