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| IMU unit Interfacing |
- IMU :
IMU
An Inertial Measurement Unit (IMU) is an electronic device that
measures and reports a body's specific
force, angular rate, and sometimes the magnetic field surrounding
the body, using a combination of accelerometers and gyroscopes,
sometimes also magnetometers. IMU's are typically used to maneuver aircraft,
including unmanned aerial vehicles(UAVs), among many
others, and spacecraft,
including satellites and landers. Recent developments allow for the
production of IMU-enabled GPS devices. An IMU allows a GPS receiver
to work when GPS-signals are unavailable, such as in tunnels, inside buildings,
or when electronic interference is present. A wireless IMU is known as a WIMU. In this capacity, the data collected from the
IMU's sensors allows a computer to track a craft's position, using a method
known as dead
reckoning.
- ACCELEROMETER:
Accelerometer
An accelerometer is an
electromechanical device used to measure acceleration forces. Such forces may
be static, like the continuous force of gravity or, as is the case with many
mobile devices, dynamic to sense movement or vibrations. There are many different
ways to make an accelerometer! Some accelerometers use the piezoelectric effect
- they contain microscopic crystal structures that get stressed by accelerative
forces, which causes a voltage to be generated. Another way to do it is by
sensing changes in capacitance. If you have two microstructures next to each
other, they have a certain capacitance between them. If an accelerative force
moves one of the structures, then the capacitance will change. Add some
circuitry to convert from capacitance to voltage, and you will get an
accelerometer. There are even more methods, including use of the piezoresistive
effect, hot air bubbles, and light.
- GYROSCOPE:
Gyroscope
A gyroscope is a
spinning wheel or disc in which the axis of rotation is free to assume any
orientation by itself. When rotating, the orientation of this axis is
unaffected by tilting or rotation of the mounting, according to the conservation of angular momentum. Because
of this, gyroscopes are useful for measuring or maintaining orientation. Applications
of gyroscopes include inertial navigation systems where magnetic
compasses would not
work (as in the Hubble
telescope) or would not be precise enough (as in intercontinental ballistic missiles),
or for the stabilization of flying vehicles like radio-controlled helicopters
or unmanned aerial vehicles, and recreational
boats and commercial ships. Due to their precision, gyroscopes are also used in gyrotheodolites to maintain direction in tunnel mining. Gyroscopes can be used to construct
gyrocompasses, which complement or replace magnetic compasses (in ships,
aircraft and spacecraft, vehicles in general), to assist in stability (Hubble Space Telescope, bicycles,
motorcycles, and ships) or be used as part of an inertial guidance system.
- MAGNETOMETER:
Magnetometer
Magnetometers are
measurement instruments used for two general purposes: to measure the magnetization of a magnetic material like a ferromagnet,
or to measure the strength and, in some cases, the direction of the magnetic
field at a point in
space. The first
magnetometer was invented by Carl Friedrich Gauss in 1833 and notable developments in
the 19th century included the Hall Effect which is still widely used. Magnetometers are
widely used for measuring the Earth's magnetic field and in geophysical surveys to detect magnetic anomalies of various types. Magnetometers can be
used as metal
detectors: they can detect only magnetic (ferrous)
metals, but can detect such metals at a much larger depth than conventional
metal detectors; they are capable of detecting large objects, such as cars, at
tens of metres, while a metal detector's range is rarely more than 2 metres.
- REQUIREMENTS:
- Arduino Board (UNO or NANO or MEGA 2560)
Arduino Board - IMU MPU-9150
IMU - SIL pin connectors.
- 6 - male to female connectors.
- Circuit Connections to be made:
- Here MPU 9150 has I2C Communication.
- For Uno
Uno connections - For MEGA 2560
Mega 2560 Connections
- SOFTWARE TOOLS REQUIRED:
- Open Source Arduino platform for Uploading the sketch ............................download from the link "https://www.arduino.cc/".
- Open Source Processing Software for visualizing the data from serial (COM) port.............................download from the link "https://processing.org/".
- Additional Libraries & Coding:
- For Arduino
- Download the MPU-9150_Breakout library from this link "https://codeload.github.com/sparkfun/MPU-9150_Breakout/zip/master".
- GOTO => Arduino tool => sketch => import library => add library => (add the downloaded .zip file)
Adding library - GOTO => file => examples => MPU-9150_Breakout-master => firmware => MPU6050 => Examples => MPU6050_DMP6
Opening code - check if the line #112 is uncommented and also make comments from #79 to #111 lines.
- Open that sketch => compile it.
- Before uploading the sketch, check the Board, processor & Port(COM) on TOOLS.
- Now upload the sketch.
Uploading sketch - For Processing
- Download the toxiclibs-complete-0020 library from this link "https://github.com/L0stSoul/Processing/tree/master/libraries/toxiclibs-complete-0020".
- GOTO => Processing(file location) => libraries(folder) => paste it there (after extracting all files from above downloaded zip file).
- Extract the files of previously downloaded "MPU-9150_Breakout.zip" file to some location.
- GOTO => processing(tool) => file => open => MPU-9150_Breakout-master(extracted file location) => firmware => MPU6050 => Examples => MPU6050_DMP6 => processing => MPUTeapot.
Opening the file - Before running code comment the #71 line.
- Find the COM port of your board and then uncomment the #74 line by replacing the COM port if necessary.
COM declaration - Now Run the code and move the IMU MPU-9150 such that it is tracked on the Software.
Running the code - Illustration Video
- Video 1
- Video 2
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