In this project, we tried to estimate the location of a moving object using a gyroscope. Using a 9-axis gyroscope, we get the linear and rotational acceleration and use that to estimate the location.
We used Raspberry Pi 3b as mainboard and MPU9250 for gyroscope. We had connected these module using a breadboard.
Run project using command
py final_version.pyYou can change hyperparameter above code.
ALGO_NAME = 'Madgwick'We have used three algorithms to convert relative accelerations to absolute accelerations.
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Mahony: This estimator proposed by Robert Mahony et al. is formulated as a deterministic kinematic observer on the Special Orthogonal group SO(3) driven by an instantaneous attitude and angular velocity measurements.
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Madjwick: This is an orientation filter applicable to IMUs consisting of tri-axial gyroscopes and accelerometers, and MARG arrays, which also include tri-axial magnetometers, proposed by Sebastian Madgwick.
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Extended Callman Filter: The Extended Kalman Filter is one of the most used algorithms in the world, and this module will use it to compute the attitude as a quaternion with the observations of tri-axial gyroscopes, accelerometers and magnetometers.
We have used several techniques to denoise the input data. We mention some of them below.
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Calibrization: We first have a few rounds of rambling where we calibrate the input from the gyro assuming the location is fixed.
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Softening: We use two techniques to smooth the inputs to reduce transient noise. At the start of the execution, you can choose one of these two modes.
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Exponensial Average: We use the exponential average in such a way that we consider an average value and with the entry of each new value, we update this value as follows.
$x_{mean}' = (1-\alpha)x_{mean} + \alpha x$ -
Sliding Window: We used an sliding window to consider average of last 10 record isntead of last 10.
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We have recorded a video in which we have explained the project and its function. You can access the video in the link below.
https://drive.google.com/file/d/1VZW6sKtyKiKR5tcF6zujy4zgZAD5IC6E/view?usp=share_link
Aryan Ahadinia
Sepehr Pourghanad
Mostafa Ojaghi