On Fri, Sep 29, 2017 at 5:18 PM <[email protected]> wrote: > Hi all, > > At my work we use the BeagleBone Blue boards to control somewhat small > AUVs. > The board is placed in underwater tubes along with batteries, ESCs for > thrusters and all other electronics. > We use the in-build magnometer and gyro to calculate the heading for > navigating under water. > Testing the beagleboard alone on the desk shows that the heading is fairly > stable and correct within reasonable limits. > The problem arises when we do offshore tests with the AUV. Here the > heading will start to drift. A controller has been configured for the AUV > to follow a reference heading for X amount of time. From the data we can > see that the AUV actually do keep a steady heading, but from inspecting the > vehicle IRL it becomes obvious that something is wrong as the vehicle will > follow an arc instead of a straight line. > > So to the AUV actually thinks that it keeps the same heading and actually > does this for the first few meters and then starts to turn following an arc > while still thinking it is on the same heading. > > I know that we introduce quit some noise on the sensors by having the > batteries, ESCs and wiring going around the board, but could this really be > the course of this? Can anyone of you think of other possibilities? And can > anyone suggest a solution to this (other than moving power units and wires > to another shielded tube - this is not an option at this moment)? >
How are you reading the IMU? Are you using any of the filtering of libroboticscape? > Best, > Jesper > > -- > For more options, visit http://beagleboard.org/discuss > --- > You received this message because you are subscribed to the Google Groups > "BeagleBoard" group. > To unsubscribe from this group and stop receiving emails from it, send an > email to [email protected]. > To view this discussion on the web visit > https://groups.google.com/d/msgid/beagleboard/a0e21882-6109-45df-8e35-b3d562098e5d%40googlegroups.com > <https://groups.google.com/d/msgid/beagleboard/a0e21882-6109-45df-8e35-b3d562098e5d%40googlegroups.com?utm_medium=email&utm_source=footer> > . > For more options, visit https://groups.google.com/d/optout. > -- https://beagleboard.org/about -- For more options, visit http://beagleboard.org/discuss --- You received this message because you are subscribed to the Google Groups "BeagleBoard" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. To view this discussion on the web visit https://groups.google.com/d/msgid/beagleboard/CA%2BT6QPnhoU_xs5HZdKFe%2B4fyfrHiLc1aRG6e9rELc-Vg%2BhRAMQ%40mail.gmail.com. For more options, visit https://groups.google.com/d/optout.
