From 1d926b92f85553b47602f2ed19e42e7d3a0ab93e Mon Sep 17 00:00:00 2001 From: Ramasamy Date: Tue, 21 Oct 2014 15:11:03 +0530 Subject: [PATCH] Restructuring and Updating sensor fusion documentation - restructuring documentation folder structure. - Updating documentation for new diagrams. Change-Id: Ib34df41528deb8630db87d1051d90960289d7df1 --- ...iagram_gravity_and_linear_acceleration.png | Bin .../block_diagram_orientation_estimation.png | Bin .../diagram/device_orientation.png | Bin 0 -> 35185 bytes .../{ => diagram}/kalman_filter_stages.png | Bin .../diagram/orientation_effect_on_gravity.png | Bin 0 -> 30634 bytes ...projection_diagram_gravity_computation.png | Bin .../{ => equation}/state_equation.png | Bin .../orientation_effect_on_gravity.png | Bin 29060 -> 0 bytes .../design/documentation/sensor_fusion.htm | 48 +++++++++++++++--- 9 files changed, 40 insertions(+), 8 deletions(-) rename src/sensor_fusion/design/documentation/{ => diagram}/block_diagram_gravity_and_linear_acceleration.png (100%) rename src/sensor_fusion/design/documentation/{ => diagram}/block_diagram_orientation_estimation.png (100%) create mode 100755 src/sensor_fusion/design/documentation/diagram/device_orientation.png rename src/sensor_fusion/design/documentation/{ => diagram}/kalman_filter_stages.png (100%) create mode 100755 src/sensor_fusion/design/documentation/diagram/orientation_effect_on_gravity.png rename src/sensor_fusion/design/documentation/{ => diagram}/projection_diagram_gravity_computation.png (100%) rename src/sensor_fusion/design/documentation/{ => equation}/state_equation.png (100%) delete mode 100755 src/sensor_fusion/design/documentation/orientation_effect_on_gravity.png diff --git a/src/sensor_fusion/design/documentation/block_diagram_gravity_and_linear_acceleration.png b/src/sensor_fusion/design/documentation/diagram/block_diagram_gravity_and_linear_acceleration.png similarity index 100% rename from src/sensor_fusion/design/documentation/block_diagram_gravity_and_linear_acceleration.png rename to src/sensor_fusion/design/documentation/diagram/block_diagram_gravity_and_linear_acceleration.png diff --git a/src/sensor_fusion/design/documentation/block_diagram_orientation_estimation.png b/src/sensor_fusion/design/documentation/diagram/block_diagram_orientation_estimation.png similarity index 100% rename from src/sensor_fusion/design/documentation/block_diagram_orientation_estimation.png rename to src/sensor_fusion/design/documentation/diagram/block_diagram_orientation_estimation.png diff --git a/src/sensor_fusion/design/documentation/diagram/device_orientation.png b/src/sensor_fusion/design/documentation/diagram/device_orientation.png new file mode 100755 index 0000000000000000000000000000000000000000..6bc621a8f90b5ed1b6155913e6af375a6c36ab4b GIT binary patch literal 35185 zcma%jcRZVK^ftBCETv-9C{?3_*fUnz61!&6nz1*viz2Ad(jvClvxvQFs~vlm+MC+j z`}F&J$G`6%;S+iC-1oWf`E1nRy7;d6Z33&f~`k>dm>SemS<@-rkle^H=%#C8vxOfwHVraSt-B z?*z)K+aPjC@b5tK*-%_m#Q52vaMZsKLI0m0@+fLhuO&I2VLsv85Z!_7u%fu~L}MRw zz@F*L+213!A;N+o-@HyfAGT2@2jYpjyK7Shrh8DqXyP8w(^I1ve&8u=prQG&I}m1I z0^BcJg^Y{`&UYmQcwp*2z|3BMc7nAvHea>Yx`s_Zq8g>mw3c%{JbU3DOwWeu)ROLg z7KTs$5sn%v8Xb3;uCh0`foScfW6g&4emi3-#flBlVKl^>6j*SE{wo!Qn~>2ydWbbj zrIiDIPhsTKDmpXha4u@WXfSx8ZQV3-uJ0GaHah#J_Kl z0pGARohTuME`9%|IH%ZFXe~ezo$du#g9@HDpiR?9Ibh``izvxhzOC9XuPFpw$bn&S z3Rcky$w)&ta3x-#>=`LAm0y9~SBHakkdd8PF&mLPfj>h41D0jYJCz(}s#*q)2E)C* zM;-9*1l|QMwhsKEQs_036FQ??Dy%ZV%aiE=Y!on+9Ku!skFpfz>GtXjTn;7mYC{Zb zGtoU_Fz^}IrzR?+nqP@5-Dk_qmL_QtykJFeQzgeLpn zNUn8~t6FgKd_6efU%U3%Tp$esPAe6``G-8}Fbe0U>+egeoxl3Cr!m&#_C2%%`+t%b z-i@}lY2cYiNVrN$iTV4(M<(cv`~~bDSRKI!&i<~yjwNS|Y1;d(xbs_TQ-2v)@c(R3 z=a9`w-^ka>hjEn}XLuZPtxXG!zE;+lX-=!KV;H03m;2*A%8iU7?`jP)vx%Ua4kP@_ zggn1KU02%sy>3iN`RH$hq$&j0>ePYu51U`JSKIkPi1*WQ;Al}PK%`kV3Aly8adrH6 zfn%B~y)s+ZA?Ba#x=ak(Fm6Z?w598r#>M6SF*EJb*C%>%0w>_q)m7EJ_j*fA4DRGR zFMY)9v_`Skf;VuumaLX0dVD=a}?V5jRamXMz)cq?EZ@nz&|4mR~<76j)2G+JVm^@MX zr9~}ud3*L(qD-3L`#X<$NXfmbZ9DW((B&%XYkcumA2$4Vc}J`&GwCQbgKDaTct_|en@UQ#KiVj>HuRkST#SdDAfQvmo z=Bx-jF13DVgIZlt250(RiI%%sa#^jbgY{=R2>Q=^dzZGSf}ei9I{Px6D68&?$Qh$> z!mzI{KOt^Hrwz_yiNL7p)B?yPjYQeLu~Y87+7L(-TNs-+9vQHx0)MiHDi%}A#AyConY^B4$ zWMi|nD?{)5OPWL7BtU&f`kFO-_%#6*BYp=(sP;xz3ziu0J~lGvg-KJod7~|Tom1yH z9Y686*tRFUOAQ|&JLz5@Q6k^oa6OgUd2ao1Hr@L?5byY_l*r3C9XY_TFHem`Lqn6l zaEMJ!7G}s;DRXNFr@|!eT<(c^d&Au~emn;k+$CqZ zYrpbZ^%aT0WxiHkma-zj+FvtF9{5bPsf{>d2uz-AqeN)%QG!QjzpD;OW!gJnL=6KHHk1zZCsf2SQ^D)t(HN4+8qO$^IVLC|sGd>uC zm|$OaCkomK8yIOBR=dsjXSk~UXy~&^cWjVJ?SP0_I&~iICkP%AzrKUTgyIs0DbbgO zcw7pvZN9;<58qs`qp0EUmg8tKbeif^U0q=#Xd)DXyx4s!l#GJ9(pDE!2mavO_uwdU zC6pW<(XrCI9u()fmzPWPiUtm<33&L%`&0Zo^Y*E_Z=2e8&qz@s>ZOt&lDt2@L*#s; z%d`%foUISbbkk?(Sz=&-8*NPL#noJ24SkzsVS$GX|9I~9i)2>F9#n81#9J$S;eSR| zTVH}SiY&ASlaG$33x>(irt|B`x)(_I;jV}C4mj`>O8TLDfc2aUp9zVGAH~C$2Nz?2 z9QEkWp%o^9aQSanw1xt~ZBPg$ivpVaa5Y1NwtJzaWxap~3Z*q_Y>4UVLMoE@^@Gg4 z#xb#6BjB6{ru!skp31m|eDFb@%j}ndE|@LmPE1GY3;j!N3A>CI2~;;zPamZ)Rp8EJRP2n`Ugj12Ghj$=F$1|6Qvx? 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@@

Sensor Fusion is the process of combining the accelerometer, gyroscope, geo-magnetic sensor, GPS data and barometer in order to generate accurate virtual sensor outputs such as Orientation, Gravity, Linear -Acceleration, Altitude, Pedometer, etc. Sensor Fusion is used for extracting +Acceleration, Altitude, etc. Sensor Fusion is used for extracting individual virtual sensor components from composite sensor data and/or combining multiple sensor data to create new sensor component data while compensating for individual sensor errors. Ideally the following errors would @@ -64,8 +64,25 @@ to determine the heading of a device.

Orientation Estimation

-

+

+ +
+
+ +
Fig. 1. Device Orientation in Euler Angles.
+
+
+ + +
+
+ +
Fig. 2. Quaternion based Sensor Fusion Approach for Orientation +Estimation.
+
+
+

Driving System

@@ -92,11 +109,16 @@ Kalman filtering.

Kalman Filtering

-

+
+
+ +
Fig. 3. Kalman Filter Stages.
+
+

To ensure linear Kalman filtering the following error state equation is used:

-

+

,where the first term is the quaternion representation of the Euler angles error and the next three terms are the error in knowledge of bias errors.

@@ -109,8 +131,13 @@ gravity measurements in 3D space are derived from the orientation (pitch, roll and yaw) measurements that is output from the Kalman filter. The process to compute gravity and linear acceleration is shown in figure below. -

+
+
+ +
Fig. 4. Computation of Gravity and Linear Acceleration.
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+

Gravity virtual sensor data provides the measure of the direction in which the Earth’s gravitational force is observed in the device’s frame of reference. The @@ -123,7 +150,12 @@ gravitational effect on the devices reference axis.

GRy = Earth’s Gravity * sin(roll)

GRz = Earth’s Gravity * cos(pitch) * cos(roll)

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Fig. 5. Effect of Device Orientation on Gravity.
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When the device tilt values (pitch,roll) are changed from (0,0) to (0,Π/2), phone is rotated around x-axis, the y-axis gets aligned to earth's gravitational field -- 2.34.1