Current Works Corrected unit conversions in code Found an error in calculating offset (to zero sensors) – Fixed error, but still not accurately integrating to correct velocity/position Collected data on rotations, constant motion in one direction, and when stationary – Orientation data is fairly accurate, but gyroscopes do drift over time – Accelerometer data needs more precise filtering Tried low pass, high pass, and started testing a band pass filter on accelerometer data – High pass should remove error due to incorrect offset Wrote Kalman filter m file for roll orientation

Stationary Test

Rotation Test

Move 1 meter in Y Direction

What’s Next? Find and implement optimal filter for acceleration – Test on planar motion displacement Test Kalman filter for orientation Integrate transformation matrix code to begin testing with 3D motion