1. 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 email 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

2. Acceleration (left 4 sample average, right unfiltered input)

3. Velocity (left 4 sample average, right unfiltered input)

4. Position (left 4 sample average, right unfiltered input)

5. Unfiltered Data AverageMinMaxRangeAverage-zero 519.0978512527150.03775Accel1 532.2083526539130.04825Accel2 778.3903772785130.07525Accel3 516.33835135196-0.09175G1 512.16035105155-0.04475G2 490.36184884924-0.05325G3 Accel1519.06 Accel2532.16 Accel3778.315 G1516.43 G2512.205 G3490.415 Zero Values

6. 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 519.0978516522.256.250.03775Accel1 532.2083529.55355.50.04825Accel2 778.3903775.75781.7560.07525Accel3 516.3383514.55183.5-0.09175G1 512.1603511513.52.5-0.04475G2 490.3618489491.52.5-0.05325G3

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