Difference between revisions of "R2P IMU firmware development"

Image:R2P_IMU.png

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 3-axis MEMS gyroscope and a 2-axis 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 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 data filtering and sensor fusion, and example implementation of the algorithms, are available. The only prerequisite is knowledge of the C programming language.