Sensor Fusion (TSRT14)
Laboration 2:
Orientation estimation using smartphone sensors
An orientation filter is implemented using measurements from gyroscope, accelerometer and magnetometer in a smartphone. The lab is compatible with any android phone containing these sensors (which most modern smartphones do). Our own Sensor Fusion Android app is used to stream sensor data from the phone to matlab.
In this lab you stream accelerometer, gyroscope and magnetometer measurements from a smartphone to your computer. Given these measurements the task is to implement a filter that estimates the orientation of the phone in real time using techniques from the course. In the end you compare the built-in orientation estimate provided by google.
The lab is compatible with any android phone containing the necessary sensors (which most modern smartphones do). Use your own phone, or use a phone provided by the course during the lab. An example of collected measurements that can be used for debugging purposes, or if you lack an android device, are available.
Lab material:
- Lab instructions (pdf)
- Sensor Fusion Android app
- Matlab files (zip, 290 KB)
- Pre-recorded example data (zip, 550 KB)
Examination
The laboration is split into two parts, an introductory session and an examination session, separated by approximately one week of independent work. The introductory session is intended to help you get started with the laboration tasks, sort out any practical issues with data collection and to provide you an opportunity to ask questions about the lab. During the examination session, you present your findings to a lab assistant and are expected to be able to answer questions about the lab in general.
Suitable group size: 2 students