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Posts Tagged ‘programming’

Using accelerometer data to correct for gyro drift

Gyroscopes do not measure acceleration, so they obviously cannot be used to calculate the direction of gravity. In other words, we can use gyro outputs to calculate an estimation of the direction cosine matrix, but the estimate will drift over time. A 3-axis accelerometer can be used to correct the roll and pitch drift, which […]

Orientation Kinematics with Direction Cosine Matrices

In a sentence, a direction cosine matrix is a 3×3 matrix containing the cosines between each of the 9 possible pairs of axes of two separate Cartesian coordinate systems. In the context of inertial measurement units in robotics applications, a 3D vector could be represented in either the global (earth) or the body (local) frames […]

Tricopter: Progress?

The code involves a lot of math that I don’t understand! They never taught rotation matrices in high school. This post is just to share that I haven’t fallen asleep or anything. Okay, more honestly, I’ve just started coding again after a month of chemistry. It was still fun! Check out my (slow) progress on […]