marvin:ecp1
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marvin:ecp1 [2009/01/29 00:49] – rieper | marvin:ecp1 [2009/01/29 09:52] – deva | ||
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=====Implementation===== | =====Implementation===== | ||
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====Numerical Readings from the Gyroscope==== | ====Numerical Readings from the Gyroscope==== | ||
A gyroscope measures degrees per second or simply angle velocity and therefore we must use numerical integration in order to get the angle. A gyroscope has a bias which is simply an offset and naturally we want to eliminate this offset by calibration methods at the beginning of the program. If we do not calibrate, the integration, | A gyroscope measures degrees per second or simply angle velocity and therefore we must use numerical integration in order to get the angle. A gyroscope has a bias which is simply an offset and naturally we want to eliminate this offset by calibration methods at the beginning of the program. If we do not calibrate, the integration, | ||
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- | There are many types of algorithms for numerical integrations that are far more advanced and all of them or based on some kind of interpolation technique, but for now we will rely on the simplest form which is the running sum. As an alternative we will implement another solution known as the trapezoidal integration that utilizes a first order polynomial to interpolate between sampled values, hence forming a trapezoidal between every two samples. An illustration of this and further discussion on the topic may be found on wikipidea(([[http:// | + | There are many types of algorithms for numerical integrations that are far more advanced and all of them or based on some kind of interpolation technique, but for now we will rely on the simplest form which is the running sum. |
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- | FIXME: trapezoidal integration ??? HEHEHE | + | |
====Programming==== | ====Programming==== | ||
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The full source code for this class can be found in the file '' | The full source code for this class can be found in the file '' | ||
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marvin/ecp1.txt · Last modified: 2009/01/29 11:03 by rieper