Angle measurement for balancing robot.

[RodSTAR]

Well,
interesting project, in fact i did that some years ago with stepper motors, hardware talking, you must combine both sensors accelerometer and gyro, aswell as obvious other sensors for not to mess with walls and other more complex obstacles. I applied kalman in C, in those times, I'll try to give myself a time to work in a PICBasic version to share it and adapt it to some new personal proyects I have in mind. Added also a digital compass to test gyro's Z response. Calibration and software compensation is the goal for this. Neural implementation for this, is the way to be taken.

Regards
Rodrigo,
RodSTAR

[HenrikOlsson]

Hi Rodrigo,
I haven't worked on the robot for several months. I did get it to balance a bit with the two SHARP sensors but the goal is to use the gyro and acceleromter. I beleive the Kalman filter is an esential part of the equation to get that to work correctly. If you ever get to porting any of your Kalman code to PBP I'd very much appreciate if you'd share it.

Thanks!
/Henrik Olsson.

[flipper_md]

Found this track about Kalman, and it looks quite a Maths challenge!

http://fred.unis.no/Kalman/Master_Thesis_Mathieu.pdf

very well detailed, but still complex.


this looks a bit more accessible: KalmanFilterforDummies
http://bilgin.esme.org/BitsBytes/Kal...6/Default.aspx

[Kamikaze47]

Sorry to drag up an old thread, but did anyone ever manage to get a Kalman filter implemented successfully in PBP?

I'm hoping to apply a Kalman filter to accelerometer and gyroscope readings to obtain a tilt measurement and I figured I'd ask if someone has done this in PBP before attempting to port the C code full of floats and matrix multiplication into PBP.

[HenrikOlsson]

Hi,
Not me.... But I'm sure it can be done with PBP, PBPL provides enough bits to get the resolution and but to be able to do it you need to actually understand how it works - which I don't :-(

If you understand the Kalman theory and/or how the C code works I'm sure that we, collectively, can work it out if we take it step by step.

I'd really like to see working Kalman filter in PBP as well.

/Henrik.

[Kamikaze47]

I've been researching it and i'm starting to understand it better. I can certainly follow the C code, but theres a lot of things in there that arent so easy in PBP, like floats, matrix manipulation and trig like arcsin.