SenseIMU

Control a mouse by human gesture via Bluetooth - A demonstration of Kalman Filter and other different optimization and estimation approaches.

Input

• Accelerometer raw data
• Gyroscope raw data
• Magnetometer raw data

Output

• Estimated Euler angles
• Estimated Quaternion set
• Represent object orientation on 3D Winform application
• Control mouse using estimated Euler angles via Bluetooth

Functionality

• Bluetooth Connection
• Data plotting, 3D rendering
• Switching between different algorithms:
  • Tilt-compensation Method
  • Gauss Newton Method
  • AHRS
  • Quaternion based – gyro bias – EKF
  • Quaternion based – gyro rate – EKF
  • DCM based KF

Screenshot

HW Assembly

Demonstration