Current Works Determined drift during constant velocity test caused by slight rotation which results in gravity affecting accelerometers Analyzed data trying to find error source in stationary test – See next few slides which show direct input (integer value of A/D conversion) Reviewed Kalman Filter and tried to use MATLAB function – Will you with a few questions Finished integrating transformation code Wrote/developed calibration procedure to zero sensor – Requires rotating the sensor in two orientations so that zero readings of all accelerometers do not account for gravity – Account for gravity after taking transform to base coordinates

Acceleration (left 4 sample average, right unfiltered input)

Velocity (left 4 sample average, right unfiltered input)

Position (left 4 sample average, right unfiltered input)

Unfiltered Data AverageMinMaxRangeAverage-zero Accel Accel Accel G G G3 Accel Accel Accel G G G Zero Values

With 4 Sample Averaging Conclusions – Range decreases – (Average-Offset)<1 bit change Zero value is off by less than 1 bit compared to the average AvgMinMaxRangeAvg-offset Accel Accel Accel G G G3

Whats next? Need to resolve error when determining velocity/position Accurately determine orientation