||Positioning using SunSPOT
||Sørensen, Morten Christian
||Løvengreen, Hans Henrik (Embedded Systems Engineering, Department of Informatics and Mathematical Modeling, Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark)
||Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark
||Dead reckoning is a really hard challenge, that many robot builders will eventually face. A solution to this challenge might be to attach a SunSPOT to the
robot, and let it calculate the position.
If a large amount of data has to be transmitted back and forth to the SunSPOT,
it will have a major impact on the time between each calculation of the position.
Because a low time is preferred, the data transmission and the sampling should
not happen at the same time. If only a very small amount of data is needed
to be transmitted, such as the current coordinates at some regular interval, the
data sampling and transmission could happen at the same time.
Tests shows that a hard movement gives the most precise result compared to a
slow movement. Tests also shows that the most accurate method for reading the
acceleration, is using the size of the resulting absolute acceleration vector when
putting the acceleration for x-, y- and z-axis together. Over a distance of half a
meter, it was the most consistent and the most accurate. Over larger distances,
the drift in the accelerometers will ruin the result and constant recalibrating is
needed to keep it down.
With more stable accelerometers, this might have been a great solution to dead
reckoning, but the current drift will render it impossible.
||Technical University of Denmark (DTU) : Kgs. Lyngby, Denmark
Creation date: 2010-06-25
Update date: 2010-06-25