Look into compass calculations without calibration

Maritime-Robotics-Student-Society / sailing-robot

Southampton sailing robot

http://www.sotonsailrobot.org

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Look into compass calculations without calibration #159

Open takluyver opened 7 years ago

takluyver commented 7 years ago

The algorithm described in this paper can apparently give heading and orientation without needing calibration:

www.mdpi.com/1424-8220/15/8/19302/pdf

tsaoyu commented 7 years ago

In this new IMU driver, it use Kalman filter to get fused magnetometer, gyro and accelerometer reading. I have implemented this on our new RPi3, it gives a very stable yaw angle with careful ellipsoid magnetometer calibration. Based on this, I would like to do some further tests:

How battery pack position influence fused orientation reading?
How our boat influence fused reading? Does it possible to use bare RPi + IMU calibration profile for the boat
How stable this calibration is? Can we detect abnormal magnetic filed change?

tsaoyu commented 7 years ago

RTIMULib2 said to have runtime magnetometer calibration functionality

RTIMULib2 is the second version of the original RTIMULib library. The main change is the addition of the runtime magnetometer calibration functionality.

If we found all three issues we mentioned before all have negative answers, runtime calibration is still an option for us.

takluyver commented 7 years ago

@NanaOKA just pointed me at imu_complementary_filter, which is written by the author of the paper I linked to above (Roberto Valenti). I don't know how it compares with RTIMULib2.