EPS@ISEP | The European Project Semester (EPS) at ISEP

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report [2014/06/26 14:12] – [6.2 Architecture] team2report [2014/06/26 14:23] (current) – [6.5 Tests and Results] team2
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 Once the code has read the information from the sensors the readings are corrected with the Sensor calibration, scale and offset values. We want to know the exact orientation of the surfboard. This means that we need the yaw, pitch and roll angle. Once the code has read the information from the sensors the readings are corrected with the Sensor calibration, scale and offset values. We want to know the exact orientation of the surfboard. This means that we need the yaw, pitch and roll angle.
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 +{{:yaw.png?400|}}
  
 Figure 23 - Explanation of yaw pitch and roll in a surf board [72] Figure 23 - Explanation of yaw pitch and roll in a surf board [72]
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 Internally the fusions of accelerometer, magnetometer and gyroscope data are done to use a Direction Cosine Matrix (DCM) algorithm. The algorithm also takes care of handling sensor noise and numerical errors. It is based on a paper by William Premerlan on the theory and implementation of a direction-cosine-matrix (DCM) [73]. Internally the fusions of accelerometer, magnetometer and gyroscope data are done to use a Direction Cosine Matrix (DCM) algorithm. The algorithm also takes care of handling sensor noise and numerical errors. It is based on a paper by William Premerlan on the theory and implementation of a direction-cosine-matrix (DCM) [73].
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 +{{:yesil.png?500|}}
  
 Figure 24 - Block diagram of the DCM [73] Figure 24 - Block diagram of the DCM [73]
  
 Posture data (Euler angles) of the board are get from the gyro. For the roll, pitch, and yaw, three rotation matrices X, Y, and Z can be calculated: Posture data (Euler angles) of the board are get from the gyro. For the roll, pitch, and yaw, three rotation matrices X, Y, and Z can be calculated:
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 +{{:x_formulu.png?400|}}
  
 Then, direction cosine matrix (DCM) is given as: Then, direction cosine matrix (DCM) is given as:
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 +{{:x_ikinci.png?400|}}
  
 With this matrix, representing of board’s posture in 3-dimensional space is possible. Each of the rotational drift correction vectors (yaw and roll-pitch) are multiplied by weights and fed to a proportional plus integral (PI) feedback controller to be added to the gyro vector to produce a corrected gyro vector. That is used as the input to equation. Proportional plus integral feedback controller are used to apply the rotation correction to the gyros, because it is stable and because the integral term completely cancels gyro offset, including thermal drift, with zero residual orientation error[73], [74]. With this matrix, representing of board’s posture in 3-dimensional space is possible. Each of the rotational drift correction vectors (yaw and roll-pitch) are multiplied by weights and fed to a proportional plus integral (PI) feedback controller to be added to the gyro vector to produce a corrected gyro vector. That is used as the input to equation. Proportional plus integral feedback controller are used to apply the rotation correction to the gyros, because it is stable and because the integral term completely cancels gyro offset, including thermal drift, with zero residual orientation error[73], [74].
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 To verify the calculations that performed on the battery, the maximum current draw could be measured. This current should not exceed the 108.64 𝑚𝐴. Also, an ammeter is needed to test it. To verify the calculations that performed on the battery, the maximum current draw could be measured. This current should not exceed the 108.64 𝑚𝐴. Also, an ammeter is needed to test it.
 Assembly will follow the same pattern as the rest of the tests but the ammeter was placed between the battery and the boost converter as shown below: Assembly will follow the same pattern as the rest of the tests but the ammeter was placed between the battery and the boost converter as shown below:
 +{{:elek_graf.png?500|}}
  
 Figure 31 - Sketch of the mounting Figure 31 - Sketch of the mounting

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