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Unread 29-07-2013, 12:17
nathan_hui nathan_hui is offline
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Re: Reducing Drift in KOP Gyroscope

The quick and almost useless answer is sensor fusion/Kalman filters (It's useless because it's not a simple answer).

Are you just using the gyroscopes? Gyroscopes are inherently susceptible to drift (There's no perfect sensor for any application, only the most optimal). You theoretically can use a set of accelerometers to zero out the gyroscopes continuously, and as another set of data to measure robot orientation. Could also use your wheel encoders to tell you when you're stopped.

See http://stackoverflow.com/questions/1...lerometer-data for more information, or search Kalman Filters, Sensor Fusion.
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Nathan Hui
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FRC 2473 (CHS Robotics), Team Captain '12
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