Quote:
Originally Posted by nathan_hui
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.
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An accelerometer won't give you heading. If the acceleration on your robot is mainly due to gravity, then you can look at the magnitude of acceleration in each axis to measure tilt. You could use a magnetometer to measure heading and combine it with the gyro, but you might have to make sure you don't get noise from the motors. See
http://robotics.stackexchange.com/qu...be-characteriz for some information on magnetic shielding to prevent this.