Difference between revisions of "Data Acquisition"
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==Sensors== | ==Sensors== | ||
| − | [[Image:Cf-md.jpg|right|thumb|Garmin GPS 18 5Hz]] | + | ===[[GPS]]===[[Image:Cf-md.jpg|right|thumb|Garmin GPS 18 5Hz]] |
| − | |||
For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the: | For our first semester prototype, [[User:AlexTheGreat|Alex]] selected the: | ||
[https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200) | [https://buy.garmin.com/shop/shop.do?cID=158&pID=8631 Garmin GPS 18 5Hz] ($200) | ||
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<br style="clear:both" /> | <br style="clear:both" /> | ||
| − | [[Image:Main-IMU-v3-0.jpg|thumb|right|5 Degrees of Tiny Freedom]] | + | |
| − | + | ===Gyro and Accelerometer===[[Image:Main-IMU-v3-0.jpg|thumb|right|5 Degrees of Tiny Freedom]] | |
The gyro and accelerometer are a combo system created by [http://www.sparkfun.com SparkFun]. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom. | The gyro and accelerometer are a combo system created by [http://www.sparkfun.com SparkFun]. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom. | ||
| Line 26: | Line 25: | ||
*[http://www.sparkfun.com/commerce/product_info.php?products_id=236 Compass on board] | *[http://www.sparkfun.com/commerce/product_info.php?products_id=236 Compass on board] | ||
*Voltage Requirement: 3.3V | *Voltage Requirement: 3.3V | ||
| + | <br style="clear:both" /> | ||
===Wheel Encoders=== | ===Wheel Encoders=== | ||
We may be able to connect the encoders to the back of motor (directly to the shaft) instead of near the wheel. I saw that someone online used the [http://www.usdigital.com/products/e3/ E3 encoders] from US-Digital with our motors. We should find the exact size of the mounting holes on the back of the motors to see what we can use. | We may be able to connect the encoders to the back of motor (directly to the shaft) instead of near the wheel. I saw that someone online used the [http://www.usdigital.com/products/e3/ E3 encoders] from US-Digital with our motors. We should find the exact size of the mounting holes on the back of the motors to see what we can use. | ||
| + | <br style="clear:both" /> | ||
===Laser Range Finder=== | ===Laser Range Finder=== | ||
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*Currently hoping to borrow one of these units from the Urban DARPA project | *Currently hoping to borrow one of these units from the Urban DARPA project | ||
*Outdoor model, used by all serious competitors | *Outdoor model, used by all serious competitors | ||
| + | <br style="clear:both" /> | ||
Revision as of 15:44, 24 September 2007
Mission
Abstracting hardware sensors into quality data that can be accessed over a software interface
Sensors
===GPS===
For our first semester prototype, Alex selected the: Garmin GPS 18 5Hz ($200)
- Updates every 200ms
- Accurate to at least 3.5m, expected accuracy of ~1m
- 12 parallel satellite tracking, WAAS enabled
- Does not require a subscription to any service
- Voltage Requirement: 4.0-5.5V
===Gyro and Accelerometer===
The gyro and accelerometer are a combo system created by SparkFun. It incorporates both the ADXL330 and IDG300 to enable measurements of acceleration along the x, y, and z axes and of angular rate about the x and y axes. For more information, please visit SparkFun's page on the IMU 5 Degrees of Freedom.
- IMU 5 Degrees of Freedom
- Voltage Requirement: 3.3V
Compass
- Compass on board
- Voltage Requirement: 3.3V
Wheel Encoders
We may be able to connect the encoders to the back of motor (directly to the shaft) instead of near the wheel. I saw that someone online used the E3 encoders from US-Digital with our motors. We should find the exact size of the mounting holes on the back of the motors to see what we can use.
Laser Range Finder
Current LIDAR: Hokuyo URG-04LX
- Indoor model, not suitable to our needs
Next Semester LIDAR: SICK LMS
- Currently hoping to borrow one of these units from the Urban DARPA project
- Outdoor model, used by all serious competitors
