Dp 425 en
Inertial Measurement Unit on Gumstix Overo Module
Author: Kříž Jan
The aim of this work is to design and implement computer module based on Gumstix Overo platform to replace existing module for inertial attitude estimation. The information from this module should be used by inertial stabilized camera platform for unmanned airplane designed at Department of Control Engineering, FEE CTU in Prague. The module is equipped with 3-axis MEMS micromachined gyroscopes, accelerometers and magnetometers, an altimeter and a GPS unit. For communication with service PC the WiFi network should be used and for communication with other modules in the camera platform the CAN bus should be used. For this purpose, the CAN bus driver is implemented into the module. This work includes hardware implementation that allows for further use of the module, including PWM, GPIO and A/D converter lines of the microprocessor being interfaced on the extension board. Software part of the work includes design and implementation of drivers for aforementioned sensors and interfaces and implementation of inertial estimation using Kalman filter in C language program.