Deliverables
Functional
Description
Block Diagram
Patent Research
Final Report
Progress Report
Time
Log
Projected Schedule
Interesting
Products
Ferrari Picture
Fun Emu Game (Flash)
The following is a report of laboratory progress.
October '02
November '02
December '02
January
February
March
April
Website design and development
Product research
E-mailed Crossbow and BEI for product prices
Website design and development
Continued product research
E-mailed Crossbow, BEI, Honeywell, and Rockwell about IMUs/educational discount
Investigated data previously collected in Matlab
Learned how to create and program using Matlab. Started working on the ECEF to NED function.
Update Website.
Created functions to convert NED to ECEF and ECEF to NED in Matlab
Total redesign of the website. Created a block diagram for the attitude computer.
Edited the attitude computer block diagram. Researched more companies for IMUs. Created the necessary functions in Matlab to implement the attitude computer block diagram.
Update Website.
Continued reseasrch on inertial navigation.
Completed attitude computer Matlab code (Page 1-5 of .pdf).
Read the IMU300CC manual.
Set up the IMU software on the computer and gathered some data (Page 5-6 of .pdf).
Researched IMU angular rate and acceleration bias and noise.
Completed specific forces computer.
Started directional cosine matrix initialization.
Started building the testing platform.
Completed and tested the directional cosine matrix initialization function.
Created filters to eliminate noise and bias.
- Average - Page 1-4
- Median - Page 5
- Variance (Statistical Filter) - Page 5-7
Analyzed specific forces computer.
Attempted position correction.
Continued position correction.
Analyzed the slope of the velocities linear curve due to accelerometer bias.
Continued position correction.
Analyzed optimal warm-up time of IMU.