Calibrating accelerometers and magnetometers

When deriving sensory data from IMU chips it is always an issue that the gain and offset of the readings is not known, and varies from chip to chip. I have written a short Python script which uses a least squares fit to calibrate these devices. All you need to do is capture a set of XYZ readings while moving the device through different orientations, and put the readings in a text file. You can get this script from my github.

Two-wheeled rolling robot

I am passionate about machine learning, intelligence, and robotics. I have a number of robot projects on the go. I wanted to build a platform that would allow me to do a lot of complex experiments on sensor fusion and creating intelligent emergent behaviors. I needed to make a robot that has quite a number of sensor inputs, but not so many that it would overload the processing capability to do anything useful. I decided to make a simple two-wheeled robotic platform that has a lot of flexibility and load it up with appropriate sensors.

One of the aspects of my robotics philosophy is that information from simple sensors can be highly informative and that current robot designs jump too quickly to complex high bandwidth data sources and they then do a marginal job of interpreting the information from those sources in software. I am inspired by insects and other small creatures that seem to have small numbers of sensors, for example eyes with only a few photoreceptors, but still have very complex adaptive behaviors which are often leagues beyond what we can do with today’s machines. Part of this is due to the efficiency with which they extract every little bit of useful information out of the sensory data, including correlations we would never think of. I am interested in applying experience gained from machine learning in order to extract from sensors information that could not easily be determined by using hand coded algorithms.

Rolling RobotMy rolling robot has two wheels and these have wheel encoders to give a feedback of position or wheel rotation speed. It also has an infra red range finder that can indicate the Continue reading