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 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.