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Author Archives: Rolfe Schmidt
Implementing the GaussNewton Algorithm for Sphere Fitting (3 of 3)
The first post in this series made it clear that the major computational and storage costs to implementing the GaussNewton algorithm come in computing the matrices and . By carefully avoiding materialization of the Jacobian matrix and the residual vector, … Continue reading
Posted in Mathematics
Tagged Accelerometer, ADXL335, ADXL345, Arduino, Calibration, Gauss–Newton algorithm, HMC5843, Magnetometer, muCSense, Sensor, Statistics
4 Comments
Implementing the GaussNewton Algorithm for Sphere Fitting (2 of 3)
I sketched a naïve implementation of the GaussNewton algorithm for sphere fitting, and provided an implementation in Octave. While it works fine on a laptop, it uses far too much memory to handle more than a handful of calibration samples … Continue reading
Posted in Mathematics
Tagged Accelerometer, ADXL335, Arduino, Calibration, Gauss–Newton algorithm, Magnetometer, muCSense, Statistics
2 Comments
Implementing the GaussNewton Algorithm for Sphere Fitting (1 of 3)
In some calibration strategies we encounter a sphere fitting problem: we need to find the map that does the best job sending the observed data to a unit sphere. This simple problem statement leaves two critical questions unanswered. What family … Continue reading
Posted in Mathematics
Tagged Accelerometer, Arduino, Calibration, Gauss–Newton algorithm, Magnetometer, muCSense, Statistics
2 Comments
muCSense: Using Calibration
I just added some new code to the muCSense library to help calibrate accelerometers and magnetometers. I plan to use the framework to add calibrators for gyros and other sensors too. In this post, I’ll walk through an example sketch … Continue reading
Posted in Electronics, How To
Tagged Accelerometer, ADXL345, Arduino, Calibration, HMC5843, ITG3200, muCSense, Observer pattern, Sensor, SparkFun Sensor Stick
3 Comments
muCSense: Introduction and Example
In my last post I walked through the steps you need to take to establish a simple connection with the three sensors on SparkFun’s 9DoF Sensor Stick. If you took those code snippets, dumped them into one file, and ran … Continue reading
Posted in Electronics, How To
Tagged ADXL345, Arduino, HMC5843, ITG3200, muCSense, Programming, Sensor, SparkFun
5 Comments
Connecting to Sparkfun’s 9DOF “Sensor Stick”: I2C access to ADXL345, ITG3200, and HMC5843
[Update 24 Aug 2012: This post gives good detail about how to communicate with the sensors on the 9DoF Sensor Stick, but if you want a cleaner solution (that has been updated for Arduino 1.0), have a look at this … Continue reading
Posted in Electronics, How To
Tagged Accelerometer, ADXL345, Arduino, Attitude and heading reference system, Gyro, HMC5843, I²C, ITG3200, Magnetometer, Sensor
41 Comments
Accelerometer Calibration IV.1: Implementing GaussNewton on an ATMEGA
This is the third post in a series. Introduction Simple Methods LeastSquares and Gauss Newton Implementing GaussNewton on an ATMEGA (this post) Error Analysis ? Quick Summary This post is short on explanations, I just wanted to something a … Continue reading
Posted in Electronics, How To
Tagged Accelerometer, ADXL335, Arduino, Calibration, Gauss–Newton algorithm, Sensor, Statistics
13 Comments