R2P IMU firmware development

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Title: Embedded Inertial Measurement Unit for Unmanned Aerial Vehihcles
R2P IMU.png


Description: We have developed the electronics of an Inertial Measurement Unit based on an ARM microcontroller to be integrated on an autonomous embedded aerial platform. The IMU has already some attitude heading reference system (AHRS) code implemented, but we are interested in:
  • implementing embedded algorithms for the estimation of the IMU attitude to be compared with the actual one (e.g., Kalman filter, DCM, Madgwick, etc.)
  • developing a, easy to use, procedure for the calibration of IMU parameters
  • making a comparison with commercial units using a robot arm as testbed
  • validate the accuracy of the IMU on a flying platform
  • integrate the measurements from a GPS to reduce drift and provide accurate positiong (this will make it definitely a MS thesis)


  • electronic board and eclipse based C development toolkit for ARM processors
  • papers describing the algorithms we are interested in implementing

Expected outcome:

  • few different AHRS algorithms with comparative results
  • user-friendly procedure to calibrate the IMU
  • a sistem which integrated IMU and GPS to provide accurate positioning

Required skills or skills to be acquired:

  • C programming on ARM microcontroller
  • background on kalman filtering and attitude estimation
Tutor: AndreaBonarini (andrea.bonarini@polimi.it), MartinoMigliavacca (migliavacca@elet.polimi.it), MatteoMatteucci (matteo.matteucci@polimi.it)
Start: 2015/01/01
Students: 1 - 2
CFU: 2 - 20
Research Area: Robotics
Research Topic: Robot development
Level: Bs, Ms
Type: Course, Thesis
Status: Closed