R2P IMU firmware development - Revision history

AndreaBonarini at 15:25, 31 December 2014

2014-12-31T15:25:57Z

MatteoMatteucci at 23:41, 21 December 2014

2014-12-21T23:41:41Z

MatteoMatteucci at 09:15, 17 April 2012

2012-04-17T09:15:55Z

MatteoMatteucci at 16:41, 16 April 2012

2012-04-16T16:41:48Z

MartinoMigliavacca at 14:50, 17 February 2012

2012-02-17T14:50:37Z

MartinoMigliavacca at 14:49, 17 February 2012

2012-02-17T14:49:18Z

MartinoMigliavacca at 14:43, 17 February 2012

2012-02-17T14:43:43Z

MartinoMigliavacca at 14:41, 17 February 2012

2012-02-17T14:41:51Z

MartinoMigliavacca: Created page with "{{ProjectProposal |title=R2P IMU firmware development |image=STM32-H103-1.jpg |description= R2P (Rapid Robot Prototyping) is an open source modular architecture for rapid prot..."

2012-02-17T14:40:32Z

Created page with "{{ProjectProposal |title=R2P IMU firmware development |image=STM32-H103-1.jpg |description= R2P (Rapid Robot Prototyping) is an open source modular architecture for rapid prot..."

New page

{{ProjectProposal
|title=R2P IMU firmware development
|image=STM32-H103-1.jpg
|description=
R2P (Rapid Robot Prototyping) is an open source modular architecture for rapid prototyping of robotic applications, which aims at speeding up their development.
R2P is an open source modular hardware and software architecture, where off-the-shelf basic modules (e.g., sensors, actuators, controllers) are combined together in a plug-and-play way, with tools for an easy development of control software, allowing the implementation of a complex system in a simple and standardized way.

One of the modules integrated in the framework is an IMU (Inertial Measurement Unit), which exploits a MEMS gyroscope and a MEMS accelerometer to estimate its heading.
A magnetometer is also present, in order to calculate absolute heading and correct the measurement from the other sensors.

The project involves the study of a sensor fusion algorithm and its implementation on the embedded microcontroller that runs the IMU module. The code must be written in ANSI C and runs as thread in the ChibiOS/RT real-time operating system.
The board have been built and tested, and raw sensor data have been acquired. Scientific articles about sensor filtering, and example implementation of the algorithms, are available.

|tutor=AndreaBonarini; MartinoMigliavacca;
|start=2012/03/01
|studmin=1
|studmax=2
|cfumin=2
|cfumax=5
|resarea=Robotics
|restopic=Robot development;
|level=Bs; Ms
|type=Course
|status=Active
}}

@@ Line 32: / Line 32: @@
 |level=Bs; Ms
 |type=Course;Thesis
-|status=Active
+|status=Closed
 }}

@@ Line 1: / Line 1: @@
 {{ProjectProposal
-|title=R2P IMU firmware development
+|title=Embedded Inertial Measurement Unit for Unmanned Aerial Vehihcles
 |image=R2P_IMU.png
-|description=
+|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:
-R2P (Rapid Robot Prototyping) is an open source modular architecture for rapid prototyping of robotic applications, which aims at speeding up their development.
+*implementing embedded algorithms for the estimation of the IMU attitude to be compared with the actual one (e.g., Kalman filter, DCM, Madgwick, etc.)
-R2P is an open source modular hardware and software architecture, where off-the-shelf basic modules (e.g., sensors, actuators, controllers) are combined together in a plug-and-play way, with tools for an easy development of control software, allowing the implementation of a complex system in a simple and standardized way.
+*developing a, easy to use, procedure for the calibration of IMU parameters
-One of the modules integrated in the framework is an IMU (Inertial Measurement Unit), which exploits a 3-axis MEMS gyroscope and a 2-axis MEMS accelerometer to estimate its heading.
+'''Material'''
-A magnetometer is also present, in order to calculate absolute heading and correct the measurement from the other sensors.
+*electronic board and eclipse based C development toolkit for ARM processors
-The project involves the study of a data filtering and sensor fusion algorithm and the implementation on an embedded microcontroller. The code must be written in ANSI C and optimized for the target embedded processor.
+'''Expected outcome:'''
-The board have been built and tested, and raw sensor data have been acquired to test its functionality. Scientific articles about data filtering and sensor fusion, and example implementation of the algorithms, are available.
+*few different AHRS algorithms with comparative results
-The only prerequisite is knowledge of the C programming language.
+*user-friendly procedure to calibrate the IMU
 |tutor=AndreaBonarini; MartinoMigliavacca; MatteoMatteucci
@@ Line 18: / Line 27: @@
 |studmax=2
 |cfumin=2
-|cfumax=5
+|cfumax=20
 |resarea=Robotics
 |restopic=Robot development;
 |level=Bs; Ms
-|type=Course
+|type=Course;Thesis
 |status=Active
 }}

@@ Line 9: / Line 9: @@
 A magnetometer is also present, in order to calculate absolute heading and correct the measurement from the other sensors.
-The project involves the study of a sensor fusion algorithm and its implementation on the embedded microcontroller that runs the IMU module. The code must be written in ANSI C and optimized for the target embedded processor.
+The project involves the study of a data filtering and sensor fusion algorithm and the implementation on an embedded microcontroller. The code must be written in ANSI C and optimized for the target embedded processor.
-The board have been built and tested, and raw sensor data have been acquired to test its functionality. Scientific articles about sensor filtering, and example implementation of the algorithms, are available.
+The board have been built and tested, and raw sensor data have been acquired to test its functionality. Scientific articles about data filtering and sensor fusion, and example implementation of the algorithms, are available.
 The only prerequisite is knowledge of the C programming language.

@@ Line 9: / Line 9: @@
 A magnetometer is also present, in order to calculate absolute heading and correct the measurement from the other sensors.
-The project involves the study of a sensor fusion algorithm and its implementation on the embedded microcontroller that runs the IMU module. The code must be written in ANSI C and executed as thread in the ChibiOS/RT real-time operating system.
+The project involves the study of a sensor fusion algorithm and its implementation on the embedded microcontroller that runs the IMU module. The code must be written in ANSI C and optimized for the target embedded processor.
-The board have been built and tested, and raw sensor data have been acquired. Scientific articles about sensor filtering, and example implementation of the algorithms, are available.
+The board have been built and tested, and raw sensor data have been acquired to test its functionality. Scientific articles about sensor filtering, and example implementation of the algorithms, are available.
 The only prerequisite is knowledge of the C programming language.

@@ Line 23: / Line 23: @@
 |tutor=AndreaBonarini; MartinoMigliavacca; MatteoMatteucci
-|start=2012/03/01
+|start=2015/01/01
 |studmin=1
 |studmax=2