{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "# Inertial Measurement Unit (IMU)\n", "\n", "Kevin J. Walchko, 12 July 2017\n", "\n", "---\n", "\n", "IMUs are key sensors in Inertial Navigation Systems (INS). INS is key for aircraft, ships, cruise missiles, ICBMs, etc to travel long distances and arrive at a location where we want them. Although the mathematical equations behind an INS is a little complex, the sensors feeding an INS need to be calibrated in order to get good results. Today, a lot of devices have built into them IMU's. The IMU we will use is actually one for a cell phone and costs around $15. \n", "\n", "When I was a grad student at UF, I was developing an INS for a robotic system. I was given a MEMS IMU which had a worse performance than the one we are using today. My IMU cost around $5000 back in the mid-to-late 1990's.\n", "\n", "## References\n", "\n", "- [Wikipedia MEMS](https://en.wikipedia.org/wiki/Microelectromechanical_systems)\n", "- [Simple Calibration Routine](https://github.com/kriswiner/MPU6050/wiki/Simple-and-Effective-Magnetometer-Calibration)\n", "- [Calibration Routine](http://www.sensorsmag.com/components/compensating-for-tilt-hard-iron-and-soft-iron-effects)\n", "- [Hard/Soft Iron Effects](https://www.phidgets.com/docs/Magnetometer_Primer)\n", "- [Wikipedia: Earth's magnetic field](https://en.wikipedia.org/wiki/Earth%27s_magnetic_field)\n", "- [NASA: Earth's Pole Reversal](https://www.nasa.gov/topics/earth/features/2012-poleReversal.html)\n", "- [Wikipedia: Tesla (unit)](https://en.wikipedia.org/wiki/Tesla_(unit))\n", "- [C version](https://github.com/TobiasSimon/MadgwickTests/blob/master/MadgwickAHRS.c)\n", "\n", "## Setup" ] }, { "cell_type": "code", "execution_count": 1, "metadata": {}, "outputs": [], "source": [ "%matplotlib inline" ] }, { "cell_type": "code", "execution_count": 2, "metadata": {}, "outputs": [], "source": [ "from __future__ import print_function\n", "from __future__ import division\n", "import numpy as np\n", "from the_collector import BagReader\n", "from mpl_toolkits.mplot3d import Axes3D\n", "from matplotlib import pyplot as plt\n", "from math import sin, cos, atan2, pi, sqrt, asin\n", "from math import radians as deg2rad\n", "from math import degrees as rad2deg" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "# NXP IMU\n", "\n", "![](pics/imu.jpg)\n", "\n", "Our inertial measurement unit (IMU) contains 2 main chips:\n", "\n", "### FXOS8700 3-Axis Accelerometer/Magnetometer\n", "\n", "- ±2 g/±4 g/±8 g adjustable acceleration range\n", "- ±1200 µT magnetic sensor range\n", "- Output data rates (ODR) from 1.563 Hz to 800 Hz\n", "- 14-bit ADC resolution for acceleration measurements\n", "- 16-bit ADC resolution for magnetic measurements\n", "\n", "### FXAS21002 3-Axis Gyroscope\n", "\n", "- ±250/500/1000/2000°/s configurable range\n", "- Output Data Rates (ODR) from 12.5 to 800 Hz\n", "- 16-bit digital output resolution\n", "\n", "# Micoelectromechanical Systems (MEMS)\n", "\n", "MEMS is the technology of microscopic devices, particularly those with moving parts. It merges at the nano-scale into nanoelectromechanical systems (NEMS) and nanotechnology. MEMS are also referred to as micromachines in Japan, or micro systems technology (MST) in Europe. Basically, using technology for microprocessor production, companies are able to produce microscopic mechanical devices.\n", "\n", "Our Inertial Measurement Unit is capable of measuring acceleration and the magnetic field of the Earth. Shown below, NXP produced a small mechanical device. Basically, as gravity pulls on the proof mass, the capaticence of C1 and C2 changes. When properly calibrated, the sensor is able to determine the amount of gravity from the capacitence change.\n", "\n", "![How it works.](pics/mems-works.jpg)\n", "\n", "Below shows what it looks like under an electron microscope.\n", "\n", "![Viewed under an electron microscope.](pics/mems-microscope.jpg)\n", "\n", "Here we will take sensor measurements and determine sensor biases to properly calibrate the sensor.\n", "\n", "# Accelerometers\n", "\n", "For the next series of images, imagine the a gross simpification of the above discussion. A proof mass in magically suspended inside a box. The walls of the box are able to measure the amount of force applied to them. The proof mass will only displace from the center under the influence of an external acceleration.\n", "\n", "![](pics/right_hand_axes.jpg)\n", "\n", "Given a righthand coordinate system (e.g., standard cartesian coordinate system), the sensors measure acceleration as follows:\n", "\n", "![](pics/center.png)\n", "\n", "No gravity or acceleration acting on the device. Probably this is in space far from any celestial bodies) or the device is in free fall (terminal velocity).\n", "\n", "![](pics/x-acceleration.png)\n", "\n", "Now the device is accelerating in the posative x-direction with no gravity present. Notice how the proof mass is being pulled by gravity and pressing against the negative x-axis? Thus the IMU reads the reaction (equal and opposite) of what is happening.\n", "\n", "![](pics/gravity.png)\n", "\n", "Just like before, there is only one acceleration acting on the device, gravity, and we measure an acceleration in the -Z direction. Typically people talk in terms of g's, this is mainly to stay away from the annoying issue of are we talking SI units ($9.81 m/sec^2$) or imperial units ($32 ft/sec^2$).\n", "\n", "![](pics/xz-acceleration.png)\n", "\n", "Finally, we have oriented our divice $45^\\circ$ up, and gravity is forcing the mass equally on the -x and -z axes.\n", "\n", "## Accel Calibration\n", "\n", "Manufactures try to produce sensors that perform well, but when you are making millions of them and lowest cost is the is a critical factor in determining if someone will buy it, your sensor won't be perfect. Typically, you want to run the accels through a variety of static tests, where you orient them\n", "\n", "# Gyroscopes\n", "\n", "MEMS gyroscopes contain a pair of masses that are driven to oscillate with equal amplitude but in opposite directions. When rotated, the Coriolis force creates an orthogonal vibration that can be sensed by a variety of mechanisms.\n", "\n", "$$\n", "F = 2 M v \\times \\Omega\n", "$$\n", "\n", "where $F$ is the force, $M$ is the mass, $v$ is the velocity of the mass, and $\\Omega$ is the angular velocity.\n", "\n", "# Magnetometers\n", "\n", "## Earth's Magnetic Field\n", "\n", "The intensity of the field is often measured in gauss (G), but is generally reported in nanoteslas (nT), with 1 G = 100,000 nT. A nanotesla is also referred to as a gamma ($\\gamma$). The tesla is the SI unit of the Magnetic field, B. The Earth's field ranges between approximately 25,000 and 65,000 nT (0.25–0.65 G or 25-65 $\\mu$T). By comparison, a strong refrigerator magnet has a field of about 10,000,000 nanoteslas (100 G).\n", "\n", "| Prefix | Symbol | Decimal |\n", "|--------|--------|-----------|\n", "| milli | m | $10^{-3}$ |\n", "| micro | $\\mu$ | $10^{-6}$ |\n", "| nano | n | $10^{-9}$ |\n", "\n", "## Geographical Variation of the Field\n", "\n", "![](pics/world_field_map.jpg)\n", "\n", "\n", "## Temperal Variation of the Field\n", "\n", "The Earth's magnetic field is always changing and often change every 200k - 300k years.\n", "\n", "![](pics/earth_magnetic_field.gif)\n", "\n", "## Noise\n", "\n", "### Hard Iron Interference\n", "\n", "So called hard iron interference is caused by static magnetic fields associated with the enviornment. For example, this could include any minor (or major) magnetism in the metal chassis or frame of a vehicle, any actual magnets such as speakers, etc... This interference pattern is unique to the environment but is constant. If you have your compass in an enclosure that is held together with metal screws even these relatively small amounts of ferromagnetic material can cause issues. If we consider the magnetic data circle, hard iron interference has the effect of shifting the entire circle away from the origin by some amount. The amount is dependent on any number of different factors and can be very large. The important part is that this shift is the same for all points in time so it can be calibrated out very easily with a numeric offset which is taken care of by the calibration process\n", "\n", "\n", "To compensate and recenter, for each axis (x,y,z), we will calculate the mean offset ($\\alpha$):\n", "\n", "$$\n", "\\alpha_x = \\frac{x_{max} + x_{min}}{2} \\\\\n", "mag_{corrected} = mag_{raw} - \\alpha_x\n", "$$\n", "\n", "### Soft Iron Interference\n", "\n", "Soft iron interference is caused by distortion of the Earth's magnetic field due to materials in the environment. Think of it like electricity - the magnetic field is looking for the easiest path to get to where it is going. Since magnetic fields can flow more easily through ferromagnetic materials than air, more of the field will flow through the ferromagnetic material than you would expect if it were just air. This distortion effect causes the magnetic field lines to be bent sometimes quite a bit. Note that unlike hard iron interference which is the result of materials which actually have a magnetic field of their own, soft iron interference is caused by non-magnetic materials distorting the Earth's magnetic field. This type of interference has a squishing effect on the magnetic data circle turning it into more of an ellipsoid shape. The distortion in this case depends on the direction that the compass is facing. Because of this, the distortion cannot be calibrated out with a simple offset, more complicated math will still let the compass account for this type of interference though." ] }, { "cell_type": "markdown", "metadata": { "collapsed": true }, "source": [ "# Cell Phones\n", "\n", "The coordinate systems for cell phones are strange. They don't follow normal aerospace coordinate system definitions for doing INS. This is probably because CompSci types don't understand the math and only think about GUI programming where the axes are typically oriented different. \n", "\n", "Some IMUs, if you spend a little more money, come with Kalman Filters built into them. Understanding how they are setup can be confusing for someone with an aerospace/INS background and not an Andriod/Windows background. Any ways, typical definitions for cell phones IMUs are:\n", "\n", "![](pics/axis_device.png)\n", "\n", "![](pics/Yaw-Pitch-Roll-Slate-Win8.png)\n", "\n", "Our IMU does not have this issue, but in the future, as cell phone/laptop/tablet IMU become cheaper and more common, it is good information to understand becuase you may be using one on your robot." ] }, { "cell_type": "code", "execution_count": 3, "metadata": {}, "outputs": [], "source": [ "def normalize(x, y, z):\n", " \"\"\"Return a unit vector\"\"\"\n", " norm = sqrt(x * x + y * y + z * z)\n", " if norm > 0.0:\n", " inorm = 1/norm\n", " x *= inorm\n", " y *= inorm\n", " z *= inorm\n", " else:\n", " raise Exception('division by zero: {} {} {}'.format(x, y, z))\n", " return (x, y, z)" ] }, { "cell_type": "code", "execution_count": 30, "metadata": {}, "outputs": [], "source": [ "def plotArray(g, dt=None, title=None):\n", " \"\"\"\n", " Plots the x, y, and z components of a sensor.\n", " \n", " In:\n", " title - what you want to name something\n", " [[x,y,z],[x,y,z],[x,y,z], ...]\n", " Out:\n", " None\n", " \"\"\"\n", " x = []\n", " y = []\n", " z = []\n", " for d in g:\n", " x.append(d[0])\n", " y.append(d[1])\n", " z.append(d[2])\n", " \n", " plt.subplot(3,1,1)\n", " plt.plot(x)\n", " plt.ylabel('x')\n", " plt.grid(True)\n", " if title:\n", " plt.title(title)\n", " \n", " plt.subplot(3,1,2)\n", " plt.plot(y)\n", " plt.ylabel('y')\n", " plt.grid(True)\n", " \n", " plt.subplot(3,1,3)\n", " plt.plot(z)\n", " plt.ylabel('z')\n", " plt.grid(True)" ] }, { "cell_type": "code", "execution_count": 5, "metadata": {}, "outputs": [], "source": [ "def getOrientation(accel, mag, deg=True):\n", " ax, ay, az = normalize(*accel)\n", " mx, my, mz = normalize(*mag)\n", " \n", " roll = atan2(ay, az)\n", " pitch = atan2(-ax, ay*sin(roll)+az*cos(roll))\n", "\n", " heading = atan2(\n", " mz*sin(roll) - my*cos(roll),\n", " mx*cos(pitch) + my*sin(pitch)*sin(roll) + mz*sin(pitch)*cos(roll)\n", " )\n", "\n", " if deg:\n", " roll *= 180/pi\n", " pitch *= 180/pi\n", " heading *= 180/pi\n", "\n", " heading = heading if heading >= 0.0 else 360 + heading\n", " heading = heading if heading <= 360 else heading - 360\n", " else:\n", " heading = heading if heading >= 0.0 else 2*pi + heading\n", " heading = heading if heading <= 2*pi else heading - 2*pi\n", "\n", " return (roll, pitch, heading)" ] }, { "cell_type": "code", "execution_count": 6, "metadata": {}, "outputs": [], "source": [ "def find_calibration(mag):\n", " \"\"\"\n", " Go through the raw data and find the max/min for x, y, z\n", " \"\"\"\n", " max_m = [-1000]*3\n", " min_m = [1000]*3\n", " for m in mag:\n", " for i in range(3):\n", " max_m[i] = m[i] if m[i] > max_m[i] else max_m[i]\n", " min_m[i] = m[i] if m[i] < min_m[i] else min_m[i]\n", " bias = [0]*3\n", " for i in range(3):\n", " bias[i] = (max_m[i] + min_m[i])/2\n", " return bias\n", "\n", "def apply_calibration(data, bias):\n", " \"\"\"\n", " Given the data and the bias, correct the data \n", " \"\"\"\n", " c_data = []\n", " for d in data:\n", " t = []\n", " for i in [0,1,2]:\n", " t.append(d[i]-bias[i])\n", " c_data.append(t)\n", " \n", " return c_data" ] }, { "cell_type": "code", "execution_count": 37, "metadata": {}, "outputs": [], "source": [ "def split_xyz(data):\n", " \"\"\"\n", " Break out the x, y, and z into it's own array for plotting\n", " \"\"\"\n", " xx = []\n", " yy = []\n", " zz = []\n", " for v in data:\n", " xx.append(v[0])\n", " yy.append(v[1])\n", " zz.append(v[2])\n", " return xx, yy, zz\n", "\n", "def plotMagnetometer3D(data, title=None):\n", " x,y,z = split_xyz(data)\n", " fig = plt.figure()\n", " ax = fig.gca(projection='3d')\n", " ax.plot(x, y, z, '.b');\n", " ax.set_xlabel('$\\mu$T')\n", " ax.set_ylabel('$\\mu$T')\n", " ax.set_zlabel('$\\mu$T')\n", " if title:\n", " plt.title(title);\n", "\n", "def plotMagnetometer(data, title=None):\n", " x,y,z = split_xyz(data)\n", " plt.plot(x,y,'.b', x,z,'.r', z,y, '.g')\n", " plt.xlabel('$\\mu$T')\n", " plt.ylabel('$\\mu$T')\n", " plt.grid(True);\n", " plt.legend(['x', 'y', 'z'])\n", " if title:\n", " plt.title(title);" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "# Run Raw Compass Performance\n", "\n", "First lets tumble around the imu and grab lots of data in ALL orientations." ] }, { "cell_type": "code", "execution_count": 11, "metadata": {}, "outputs": [], "source": [ "bag = BagReader()\n", "bag.use_compression = True\n", "cal = bag.load('imu-1-2.json')" ] }, { "cell_type": "code", "execution_count": 24, "metadata": {}, "outputs": [], "source": [ "def split(data):\n", " ret = []\n", " rdt = []\n", " start = data[0][1]\n", " for d, ts in data:\n", " ret.append(d)\n", " rdt.append(ts - start)\n", " return ret, rdt" ] }, { "cell_type": "code", "execution_count": 25, "metadata": {}, "outputs": [], "source": [ "accel, adt = split(cal['accel'])\n", "mag, mdt = split(cal['mag'])\n", "gyro, gdt = split(cal['gyro'])" ] }, { "cell_type": "code", "execution_count": 26, "metadata": {}, "outputs": [ { "data": { "image/png": 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b1+LhnD8t5tKJ7UXvWjw+3lgZWp7haxMG8M7a0NqVgaDjMMYENAJnmE19ULaL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\nlX1ByCssZa7ZCzuwId9UGhDjsLl86x3iorDbxMPtENOlPTVOxZb8s8R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dgAgwXccyGoW2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\n", "text/plain": [ "" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "plotArray(accel, 'Accel [g]')" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [] }, { "cell_type": "code", "execution_count": 27, "metadata": {}, "outputs": [ { "data": { "image/png": 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vo8SM0kamx/rjMUwtvHri5qzmhlnRvJKax10LmhgVeuZAj1VN7azafYxLJowg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"text/plain": [ "" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "plotArray(mag, 'Mag [uT]')" ] }, { "cell_type": "code", "execution_count": 28, "metadata": {}, "outputs": [ { "data": { "image/png": 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EBVNtsXHGacrwyJDaT+7z34/3dJoLA5Ii2X6ikIl94tnx2AU88f1ehuhmDyEE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\nb3QUwT4G3lp/zGEyKOzD6ep68suNJEZ23fhEqL8nc5OjWJq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"text/plain": [ "" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "plotArray(gyro, 'Gyros [dps]')" ] }, { "cell_type": "code", "execution_count": 38, "metadata": {}, "outputs": [ { "data": { "image/png": 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uPUyaNAkHDhzAqlWr8OGHH2LmzJkAgBtvvBH33nsveJ6Hy+VCVVUVfv7zn4e9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\ne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3btZR1sLOHGG2/E7NmzsWrVKurEOE4x4WUx3lFRUUHtLg0GA5YsWYLVq1ejvb0dCxcu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\n", "text/plain": [ "" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "# now, ideally these should be an ellipsoid centered around 0.0\n", "# but they aren't ... need to fix the bias (offset)\n", "plotMagnetometer(mag, 'raw mag')\n", "plotMagnetometer3D(mag, 'raw mag')" ] }, { "cell_type": "code", "execution_count": 35, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "bias [53.7, -40.2, -89.30000000000001]\n" ] } ], "source": [ "# so let's find the bias needed to correct the imu\n", "bias = find_calibration(mag)\n", "print('bias', bias)" ] }, { "cell_type": "code", "execution_count": 36, "metadata": {}, "outputs": [ { "data": { "image/png": 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IFi5UFoiREAhTVYJDCNEMfBJ4VUp5em7ZkcBPgUnAbuDTUsq/DFUbgwSjKlpa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\nceyx6py8o03PcU4DeP553LvvxpKS0+6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rrlJVrI0AGb0EM7lLdfg6fDfjZHBlIfJqx6s7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\nmTv5w9I/EG2KMuOjGRz+9OFMhrn7HdGmKHdsu0ObOxWJsRQ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VEGoZWygFQ+18PuCaawS8/TYPQZC3efx46Mv2SN3mwrHp9CbVK680Y8qUKcrP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IIDBw5Ar9cDMIxxWrRoEby9vUfc5HJXwx0hj1AsXrwY+/btg1qtRnV1NaRSKXJycpy2/cOHDyMp\nKQkSiQSbNm1y2nZvNPj5+WHbtm0oKCjAli1bcOTIEfz000/YvHkzoqKicPDgQSxduhSzZ8/Gb3/7\nW/zjH//Ajz/+CK1Wa/c+WZbFyZMnkZeXh+nTp+M///nPkJDxSFipEdLdtm0b3nrrLXR3dyM5ORky\nmQyrVq3CwYMHAQBz5swZk/7N7gh5mLF//37k5+fj+vXruOuuuzB9+nR8++23SE1NxfLly7n24rff\nfttpCgu9Xo8//OEPRlaJixcvHpPOXD4+Pv0edDRNIzk5GcnJyXjkkUcAGLwjiMH/22+/jUuXLsHL\ny8vI4D86OnpQ6Z1CocCf//xn1NTUoKCgADExMS76ZP0xElZq5BqePXs2/vvf/6KgoAD33XcfkpOT\ncf78+VGtJrEGbpXFGMSZM2fw8ssv49tvvwXQX9HhxuBgWRbt7e1GBv9Xr15FZGQkR9CZmZkICAjg\nFAUnTpzAiy++iD/84Q/4zW9+MyKmmpjCVO3jKg2+Wq3GO++8g2PHjkGpVCI9PX20d+i5VRZumEdD\nQwMiIyO57ydNmoTCwsJhPKIbDxRFISgoCHfeeSfuvPNOAAY9bU1NDc6ePYvjx49j69atUCgUSExM\nREtLC8aPH4+DBw8iKipqmI++P4Z6pSYWi5GRkYFvv/0WmzdvRm5uLoA+TfJYhTtCHoNwe9cOHbRa\nLS5evIiDBw/ipZdeGtNkYw533nkn7rjjDjz77LPQ6XQjwrnORXBHyG6Yh1vBMXQQiUScJ7Qb/bF+\n/Xrs2LEDDMOMZjK2Gu4IeQxCp9MhMTERx44dQ0REBLKzs7F3795hGf3jhhtjBFZFyO710xgE3yox\nJSUFy5cvdxkZP/bYY5g4cSKmTJnCvdbe3o68vDwkJCQgLy8PHR0dLtm3GzcOGIYZ/E1jAG5CHqNY\nuHAhysvLUVlZiXXr1rlsP4888ggOHz5s9NqmTZu4av3tt98+pnXQzsKaNWuQnJyMadOmYdmyZUYd\nbhs3boREIkFSUhKnrBlpcOfWDXCfBTdcijlz5iAwMNDotYKCAqxYsQIAsGLFChw4cGA4Dm1UIS8v\nDyUlJbh48SISExM5KSPfi+Lw4cP4/e9/zzVnuDHy4CbkGxyWagB1dXVQKBRDfDTWobm5mRsqGhoa\niubm5mE+ohsf8+bN44piM2bMQH19PQDne1G44Vq4CfkGBrExLC8v51p5CUH/85//RGZmJnJzc/HQ\nQw/h73//O86dOzech2sWFEWNFr/bEYMdO3Zwft3mNOdu18CRCzch38AgRLZkyRJcuHCBe23v3r14\n9tlnUV5ejoULF6KxsRFnz57FE088gZMnTw7nIQMwmMc0NTUBAJqamjBx4sRhPqIbA9Z4UbjnQd7Y\ncAv/bnCUlJSApmnk5OSAZVmcOXMGGzZswP333w8AGDduHH71q1/hd7/73TAfaR8WL16MnTt3Yu3a\ntdi5cyc3XNZZqKurw8MPP4zm5mZQFIUnn3wSK1euRHt7O+655x7U1NQgJiYGn332GQICApy6b1fC\nPQ9y9MMdId/A6O7uxtGjRzFv3jwAhuXpqVOn8MQTTwAArl27hpaWFm780HAUc+677z7cdNNNKCsr\nw6RJk/Dhhx9i7dq1OHLkCBISEnD06FGsXbvWqfsUCoV47bXXcPnyZc4M6PLly6Na3XH48GFs2bIF\nX331lZEfhKtdA91wLtwR8g2MixcvcuYvAFBcXIy2tjZuYkZ9fT10Oh2XQxwOadGnn35q9vVjx465\nbJ9hYWFc0dDHxwcpKSloaGhAQUEBTpw4AcCg7pg7dy42b97ssuMYSvzxj3+EWq3mJjaTeZCudA10\nw/lwE/INjCNHjqCuro4T1W/duhVPPPEE16ZbW1sLgUAwppeoNTU1uHDhAnJzc0e1uqOiosLiz9at\nW+dSrbkbzoOtrdNujBBQFCUA8B2AfwL4FYBqALcB2ATgbZZlWYqi8gEEAdjOsuzYmoUDgKIobwAn\nAbzKsuyXFEV1sizrz/t5B8uyN04S2Y1RD3eEfOPiDgDBLMu+AeANiqLEAOIBBPWSsQjAJACKMUrG\nIgBfANjDsuyXvS83UxQVxrJsE0VRYQBahu8I3XCjP9wR8g0KiqLCASSxLHucoigRy7Ja3s+oXlL2\nBuDLsmzj8B3p0IMySAx2AmhnWfYZ3utbAbSxLLuJoqi1AAJZln1uuI7TDTdM4SbkGxyEfE2/Hsug\nKGoWDOmcnwEQ15oXARQC+AxAFICrAJazLNs+LAfphhtm4CbkGxRu8nXDjdEHNyG74YYbbowQuBtD\n3HDDDTdGCNyE7IYbbrgxQuAmZDfccMONEQI3IbvhhhtujBC4CdkNN9xwY4Tg/wNkTmd1+W8uQAAA\nAABJRU5ErkJggg==\n", "text/plain": [ "" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "# now the data should be nicely centered around (0,0,0)\n", "cm = apply_calibration(mag, bias)\n", "plotMagnetometer(cm, 'corrected mag')\n", "plotMagnetometer3D(cm, 'corrected mag')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Now using this bias, we should get better performance." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "# Check Calibration" ] }, { "cell_type": "code", "execution_count": 77, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "imu length: 1000\n", "duration: 33.9618752003 sec\n" ] }, { "data": { "image/png": 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JZVeJdMDjaKoKXHCB1WWyqgq4884T5r3FU4El+h7SnZVn1O2tQ/WWahiGAZ/Hh9qJtaZ+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\nAElFTkSuQmCC\n", "text/plain": [ "" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "# read in new data and break it out\n", "cal_check = read('check_cal.dat', ['imu'])\n", "a, m, g, ts = breakout_imu(cal_check)\n", "\n", "# apply correction in previous step\n", "cm = apply_calibration(m, bias)\n", "plotMagnetometer(cm)" ] }, { "cell_type": "code", "execution_count": 79, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "timestep 0.0327670574188\n" ] }, { "data": { "image/png": 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2iYh7YqsVndjqUyQ5hLyMFCqqrcfUhhYXbSZwnvyuEixSZ9zg7Kid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\nRPJEZKh9nD7Fhfe8y+6qevtVE5vLajz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"text/plain": [ "" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "# Now let's run through the data and correct it\n", "roll = []\n", "pitch = []\n", "heading = []\n", "\n", "for accel, mag in zip(a, cm):\n", " r,p,h = getOrientation(accel, mag)\n", " roll.append(r)\n", " pitch.append(p)\n", " heading.append(h)\n", " \n", "x_scale = [x-ts[0] for x in ts]\n", "print('timestep', ts[1] - ts[0])\n", "\n", "plt.subplot(2,2,1)\n", "plt.plot(x_scale, roll)\n", "plt.grid(True)\n", "plt.title('Roll')\n", "\n", "plt.subplot(2,2,2)\n", "plt.plot(x_scale, pitch)\n", "plt.grid(True)\n", "plt.title('Pitch')\n", "\n", "plt.subplot(2,2,3)\n", "plt.plot(x_scale, heading)\n", "plt.grid(True)\n", "plt.title('Heading');" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Now, this data was acquired with the imu starting off flat and slow rotated 360 degrees with stops around 90, 180, 270 from the starting position. At the end, I started wobbling/nutating (don't know how else to describe it) so you see the roll and pitch jump up ... there was some inadvertant change to heading during the end.\n", "\n", "Now looking at the results, you can see I didn't start at 0 deg and there is approximately 4 movements about 90 degrees appart ... which is what I did." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "\n", "-----------\n", "\n", "\"Creative
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License." ] } ], "metadata": { "kernelspec": { "display_name": "Python 2", "language": "python", "name": "python2" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.6.4" } }, "nbformat": 4, "nbformat_minor": 2 }