Sensor Fusion

[madfrog54321]

Summary

We need an object that can fuse together the Gyroscope, Compass, and Accelerometer (Gravity) data. Another object needs to combine Accelerometer and Pressure data. Camera or sonar support may be added in the future. Here is the issue defining the sensor interfaces. A Kalman filter is the recommended way to fuse sensor data. Object definitions:

OrientationProvider

• OrientationProvider(Gyroscope gyroscope, Compass compass, Accelerometer accelerometer);
• Quaternion getOrientation(); // should return the sub's orientation relative to north (horizontal) and gravity (vertical).
• void updateWithPose(Pose pose); // this will be called after combining all sensor data with the pose of the robot

  PositionProvider

• PositionProvider(Accelerometer accelerometer, Pressure pressure);
• 3dVector getPosition(); // should return the sub's position in 3d space in meters from the start position
• void updateWithPose(Pose pose); // this will be called after combining all sensor data with the pose of the robot

  Acceptance Criteria

• [ ] Created the OrientationProvider object in brain's code
• [ ] Tested the OrientationProvider object on the sub
• [ ] Created the PositionProvider object in brain's code
• [ ] Tested the PositionProvider object on the sub