In this past week, I have had had several items to focus on. The immediate priority coming out of last week was to prepare for my design review presentation. Then as soon as that ended, my focus shifted to implementing the Kalman filter and running various sanity checks on the IMUs we received.
I found a library online that allows easy interfacing between our MPU9250 IMU and an Arduino. I thus used this library to make sure our IMUs are operational and can properly communicate over I2C. I will soon be doing this same operation with the Particle Photon.
Most importantly, however, I have been working on an implementation for a Kalman filter to determine position from continuous acceleration data. I have been following this GitHub repo for guidance when I get stuck. The goal by the end of the weekend is to produce an implementation that will give me reasonable position points for the acceleration data I’m currently receiving through an Arduino
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