Group SD0803
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Contents |
Acceleration Compensated Tilt Sensor
Group Members
Paul Sobczak, Jesse Shepard, Joel Gifford
Advisors
Professor Schroeder
Robert Weinmann (Appareo Systems)
Bob Allen (Appareo Systems)
Abstract
During our project, we worked with an independent company, Appareo Systems.
We will be building a tilt sensor that uses gyroscopes and accelerometers and Kalman Filtering.
Here is an overview of the project.
Requirements
Less than a set dollar amount per unit to manufacture.
Less than a certain size when the final design is complete.
A trade study of different inertial sensors.
A complimentary filter to remove noise and correct drift.
Provide real time output with a delay of no more than one sample.
Have some way to view real time data when hooked up to a computer.
Operate off a car's cigarette lighter.
Maintain roll and pitch accuracy within 1 degree during brief < 3 second periods of acceleration. Maximum G’s experienced will be 1.5 g’s, and maximum rotation rate of 150 degrees per second.
References, Suggested Reading, and Design Documents
http://www2.usfirst.org/2005comp/Manuals/Acceler1.pdf
http://tom.pycke.be/mav/70/gyroscope-to-roll-pitch-and-yaw
Approach
After much research due to our lack of experience with or knowledge of accelerometers and gyroscopes, we have decided to make our first attempt at a breadboarded Acceleration Compensated Tilt Sensor with an IMU 5 Degrees of Freedom. This incorporates a three axis ADXL330 accelerometer from Analog Devices, as well as a dual axis IDG300 Gyroscope in one PCB.
We will be using a dsPic to take the signals from this board, convert them to digital, filter them, and send them to the computer, which will have a program running that will have a graphical display for the user.
Currently, we are attempting to get a Kalman filter working, learning how to use our DSPic and implement an ADC, and get the graphical display up and running.
