Prof. Kristofer S.J. Pister’s team Berkeley Sensor and Actuator Center University of California,
Prof. Kristofer S.J. Pister’s team Berkeley Sensor and Actuator Center University of California, Berkeley.
Dec 17, 2015
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Prof. Kristofer S.J. Pister’s teamBerkeley Sensor and Actuator Center
University of California, Berkeley
Prof. Kristofer S.J. Pister’s teamBerkeley Sensor and Actuator Center
University of California, Berkeley
Part IVInertial Measurement and Control
Ankur Mehta
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Outline
• GINA hardware overview• Sensing capabilities• Actuation capabilities• Inertial state estimation• Feedback control
wsn.eecs.berkeley.edu
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Outline
• GINA hardware overview• Sensing capabilities• Actuation capabilities• Inertial state estimation• Feedback control
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GINA board: “back”
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GINA board: “back”
wsn.eecs.berkeley.eduTI MSP430F2618 : 16 bit 16 MHz microprocessor
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GINA board: “back”
wsn.eecs.berkeley.eduAtmel AT86RF231 : 802.15.4 compliant 2.4GHz radio
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GINA board: “back”
wsn.eecs.berkeley.eduRainsun chip antenna, coax cable jack, RF switch
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GINA board: “back”
wsn.eecs.berkeley.eduST Micro LIS344ALH : Sensitive, low noise analog XL
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GINA board: “back”
wsn.eecs.berkeley.eduDebugging LEDs
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GINA board: “back”
wsn.eecs.berkeley.edu32 kHz, 16 MHz crystals
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GINA board: “front”
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GINA board: “front”
wsn.eecs.berkeley.eduKionix KXSD9-1026 : Large range +/- 8g digital XL
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GINA board: “front”
wsn.eecs.berkeley.eduInvensense ITG3200 : Digital gyroscope
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GINA board: “front”
wsn.eecs.berkeley.eduHoneywell HMC5843: Digital magnetometer/compass
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GINA board: “front”
wsn.eecs.berkeley.eduTI TMP20: Analog temperature sensor
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GINA board: “front”
wsn.eecs.berkeley.eduOp amps for noise filtering on sensitive XL
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GINA board: “front”
wsn.eecs.berkeley.edu3V LDO linear regulator
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GINA board: “front”
wsn.eecs.berkeley.eduReset, auxiliary user input switches
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GINA board: “front”
wsn.eecs.berkeley.eduJTAG programming header
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GINA board: “front”
wsn.eecs.berkeley.eduExpansion headers
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Power Consumption
TX+g
yro+m
ag+x
l+adc
TX+g
yro+x
l+adc
TX+x
l+adc
TX+a
dc
radio tx
radio id
le
radio sle
epLP
M3
90.979.8
55.8 54.9 54.3
7.4 4.2 1.5
GINA 2.2b/c Power Consumption
AveragePower (mW)
16 MHz clock, 3 ms instrumentation loop
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Outline
• GINA hardware overview• Sensing capabilities• Actuation capabilities• Inertial state estimation• Feedback control
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GINA main board sensors
• Large range accelerometer• Gyroscope• Magnetometer• Sensitive accelerometer • Temperature sensor
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Exposed interfaces
• Analog input pin• Digital GPIO• Serial communication– I2C– SPI–UART
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Additional sensors
• GPS (UART)• Battery meter (I2C)• Infrared camera (I2C)• Video camera (SPI)• Hydrogen Sulfide sensor (Analog)• ???
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Sensor calibration
Accelerometer Gyroscope
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Outline
• GINA hardware overview• Sensing capabilities• Actuation capabilities• Inertial state estimation• Feedback control
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Actuator controllers
• Hardware based PWM outputs–Processor configurable–10 (3 + 7) channel output–Can drive servos, brushless or brushed
motors, SMA actuators?• Digital GPIO pins• Serial interfaces
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Servo actuation
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Motor actuation
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Motor actuation
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Outline
• GINA hardware overview• Sensing capabilities• Actuation capabilities• Inertial state estimation• Feedback control
wsn.eecs.berkeley.edu
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Inertial navigation
• Extended Kalman filter state estimator–3DOF pose: attitude / orientation
• Additional sensor fusion–6DOF position
• Offboard or onboard computation
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Inertial navigation
• Kalman filter state estimator
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Inertial navigation
• Kalman filter state estimator
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Inertial navigation
• Kalman filter state estimator
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Motion Capture
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Outline
• GINA hardware overview• Sensing capabilities• Actuation capabilities• Inertial state estimation• Feedback control
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Feedback control
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wsn.eecs.berkeley.edu
Feedback control
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Feedback control
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Feedback control
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Prof. Kristofer S.J. Pister’s teamBerkeley Sensor and Actuator Center
University of California, Berkeley
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