FoxG20 Like a IMU

An inertial measurement unit, or IMU, is an electronic device that measures and reports on a craft's velocity, orientation, and gravitational forces, using a combination of accelerometers and gyroscopes. IMUs are typically used to maneuver aircraft, including UAVs, among many others, and spacecraft, including shuttles, satellites and landers. The IMU is the main component of inertial navigation systems used in aircraft, spacecraft, watercraft, and guided missiles among others. In this capacity, the data collected from the IMU's sensors allows a computer to track a craft's position, using a method known as dead reckoning. IMUs work, in part, by detecting changes in pitch, roll, and yaw.An IMU works by detecting the current rate of acceleration using one or more accelerometers, and detects changes in rotational attributes like pitch, roll and yaw using one or more gyroscopes.

Fox G20 Like a IMU by Daisy7 is an accurate MEMS based and low weight miniature IMU or Attitude Reference System (ARS) with Kalman Filter, excellent for real-time control and navigation of (un)manned systems and other objects. The Fox G20 Like a IMU is an excellent measurement unit (IMU) for stabilization and control of cameras, robots, vehicles and other (un)manned equipment.

The standard Fox G20 Like a IMU version contains accelerometers with a full scale of 2-5-8g and gyroscopes with a full scale of 2000 deg/s. The data are optimized by a Kalman filter and an automatic calibration at startup and are then sent over the network.

Highlights

Compact Design

Dinamic Range

è semplice configurare il pacchetto software Fox LIke + GCS per essere utilizzato come una IMU, occorre controlalre di aver settato nel file config.cfg i seguneti parametri:

#/******************IMU***************************/
#disable -> imu_type=0
#daisy7 (accelerometer + gyro )-> imu_type=1
#xsense -> imu_type=2
imu_type = 1 ;
imu_port = "/dev/i2c-0" ;
#for kalman use real time update or approssimation time
#1 real time , 0 fake time
update_rel_time = 1 ;
#calibration data IMU daisy & kalman
#overrwrite_bias:use bias in configuration file(1) or calculate at startup(0)
overrwrite_bias = 0 ;
bias_gyrom_x = 0 ;
bias_gyrom_y = 0 ;
bias_gyrom_z = 0 ;
bias_accellm_x = 0 ;
bias_accellm_y = 0 ;
bias_accellm_z = 0 ;
bias_magm_x = 0 ;
bias_magm_y = 0 ;
bias_magm_z = 0 ;
#vor filter 1 enable 0 disabele
filter_vor = 1 ;
#linear acceleration suppressor exsperimental
linear_acceleration_suppressor = 0 ;
linear_acceleration_suppressor_gain = 1.01 ;
#kalman data
kalman_delta_time = 0.025668 ;
kalman_angle_variance = 0.107701688 ;
kalman_enable = 1 ;