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| From: | Mauro Garcia Acero |
| Subject: | Re: [Paparazzi-devel] New IMU in YAPA |
| Date: | Sat, 16 Feb 2013 17:15:16 +0100 |
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Dear Hector, yes, kalman filtering improves very much
the performance on attitude estimation, but using better sensors, the accuracy
of the measurement increases also. The thing is using fuel engines, vibrations
may completely change the scenario of attitude determination because of the
noise in the measurements. AD claims to have produced, with this
unit, a very reliable unit outperforming other military grade IMUs on vibration
rectification. http://www.analog.com/en/press-release/11_08_11_10-DoF_MEMS_IMU_Makes_Tactical_Grade_Perf/press.html
Looking at MPU6000 specs, they claim for
a consumer grade cost effective IMU, which means to me that the stability of
their gyros is far away from something reliable considering missions of several
hours. ADIS16488 claims for a ARW of 0.3 °/√hr.
But I don't find this specs of MPU6000. Same for accel specs. In the webpage here after, there is an
interesting description on the different grades of IMUs and their uses: http://www.vectornav.com/support/library?id=76 I'm not saying that MPU6000 is a bad
IMU, it is a good IMU for determined kind of missions and uses, as well as ADIS16488
is more adapted to other ones (still to be confirmed). Anyway, talking about integrating this
SPI IMU into paparazzi, what do you propose? To begin from scratch with a new
module or to reuse other existing module, for instance a SPI IMU? Best regards, From:
address@hidden
[mailto:address@hidden On Behalf Of Hector Garcia de Marina Hi Mauro, I have a
long experience with the ADIS16405. In my
opinion for the control loops without taking into account a physical model of
the plane. The performance is not so big compared with other imus such as
MPU6000. The
estimators based on complementary filters or Kalman are far enough for a nice
estimation of biases for the gyros. In fact the performance of the
accelerometers is quite nice for small airplanes. I can not
speak for other applications. But for small fixed wings. I really have to say
that I have not found any differences. On 16 Feb 2013 15:56, "Mauro Garcia Acero" <address@hidden> wrote: Hello everyone, After some discussion with TU Delft people, I will try to integrate
the new ADIS16488 from Analog Devices into the YAPA in order to verify the
behavior of paparazzi with a high end MEMS IMU: <From the AD site> 6°/hr in-run bias
stability 0.3°/√hr angular random
walk 0.01%
nonlinearity Because this IMU communicates through SPI port, do you have any
suggestion about how could I go quicker in the development of the new module? I
was thinking to reuse one existing IMU module already communicating through
SPI. But I have just begun to analyze the doc of the web site, so, I'm open to
any kind of possibility. Thanks in advance,
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