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Unread 29-07-2013, 21:21
nathan_hui nathan_hui is offline
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Re: Reducing Drift in KOP Gyroscope

Quote:
Originally Posted by sur View Post
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.
True. It won't give you heading. But it will tell you when you're not moving. And that's the key to preventing the gyros from drifting. If you're not moving, the gyro shouldn't be moving either. If you have two accelerometers and you know the distance between them, you can calculate the amount of turn. Magnetometer may or may not work - you're in an environment with way too many motors and ferromagnetic materials (i.e. screws). Shielding also only does so much. In the end, you'll probably end up running a software filter over the data anyways.
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