On Fri, Feb 24, 2006 at 06:58:56PM -0500, andrew kelley wrote: > > At Umass Dartmouth, we participated in the DARPA Grand Challenge; > although we never made it to any of the competitions, the INS system > worked. Now the Inertial Nav System worked using three accelerometers > and gyros. The group that did INS used a Kalman filter which required > a bit of time to settle; but once it was settled(converges faster w/ > more variance), they threw it in a car with a laptop and gave it its > starting coordinate. They drove it around ring road (about 1 to 2 > miles, few minute drive @ 25mph). They took the data file and > overlaid it on a google map. The error was IIRC about 100 ft towards > the end of the trip. This was done on a PC though.. The kid that > designed most of the software and got it workin ended up working at > Sippican.. Thanks for the info, sounds very encouraging! What sort of acellerometers/gyros were they? Simple MEM devices or more advanced? I'd really like to do a proper 6-axis tilt/rotation setup and learn how Kalman filters work eventually. But I think the 3 axis tilt setup's a good start at least, especially with a two week schedule... Oh well, that's what summers are for. -- pete@petertodd.ca http://www.petertodd.ca -- http://www.piclist.com PIC/SX FAQ & list archive View/change your membership options at http://mailman.mit.edu/mailman/listinfo/piclist