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  1. Thread: uNav INS

    by brtaylor
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    My thought process for the INS is to extend the 7...

    My thought process for the INS is to extend the 7 state EKF (https://github.com/bolderflight/uNavAHRS) integrating to NED velocities and NED positions (from a starting location). The measurement...
  2. Thread: uNav INS

    by brtaylor
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    I'm not 100% sure how the 15 state EKF is only...

    I'm not 100% sure how the 15 state EKF is only working with 3 of the 4 quaternion states, so I would guess that you would want to do: 4 state, 10 state, and 15 state. Seems like it would be a good...
  3. Thread: uNav INS

    by brtaylor
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    Here are a couple of good references describing...

    Here are a couple of good references describing the different levels of coupling:
    http://www.insidegnss.com/auto/JanFeb07GNSSSolutions%20(secured).pdf...
  4. Thread: uNav INS

    by brtaylor
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    It's checking the serial buffer, parsing any...

    It's checking the serial buffer, parsing any serial data, and checking to see whether there is a complete GPS packet there. It will return "true" on the loop when a complete packet has been fully...
  5. Thread: uNav INS

    by brtaylor
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    Hi Don, interesting discussion. My...

    Hi Don, interesting discussion.



    My understanding is that it really depends on the dynamics of the vehicle and how well they're captured with your system equation used in the Kalman filter. In...
  6. Thread: uNav INS

    by brtaylor
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    I agree, I've started working on a framework for...

    I agree, I've started working on a framework for that in the MPU-9250 library, but haven't pushed it to github yet. The idea being that you could grab the IMU data at different levels of processing...
  7. Thread: uNav INS

    by brtaylor
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    13,101

    Hi Don, - The code was originally developed...

    Hi Don,
    - The code was originally developed using a 1 Hz GPS, but I currently use a 5 Hz unit.
    - Yes, the EKF uses LLA position and NED velocities from the GPS.
    - The EKF time update is run at...
  8. Thread: uNav INS

    by brtaylor
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    Awesome data, thanks! That'll really help inform...

    Awesome data, thanks! That'll really help inform some of the calibration programs on the MPU-9250 as well; looks like I should be using a longer time period for computing gyro bias for instance.
  9. Thread: uNav INS

    by brtaylor
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    Probably not, if I recall correctly the MTK...

    Probably not, if I recall correctly the MTK chipset only gives one GPS velocity measurement instead of a NED velocity.
  10. Thread: uNav INS

    by brtaylor
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    That's a really good question and one that I...

    That's a really good question and one that I would have to defer for the time being and think about more. My initial guess would be to apply the GPS measurement update to the IMU data closest in time...
  11. Thread: uNav INS

    by brtaylor
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    13,101

    uNav INS

    All, I've ported the University of Minnesota 15 state EKF to Arduino:
    https://github.com/bolderflight/uNavINS

    Beware, it's currently very beta and a work in progress. This filter was designed by...
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