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9 views

Draft Writeup

Uploaded by

harshit23
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Project Report

Harshit Agnihotri
Summer Intern ID -108/24
Under Respected Dr. Sanjeev Naithani (Scientist G)
And Ashish Sir’s guidance
IRDE, DRDO DEHRADUN
Project Outline

Understanding and implementing the basics of current electricity and electronics to real world
situations.

Recognizing the importance of datasheet analysis and reshaping the outlook towards electronic
components.

Working on the sub surface level of interaction between coding and electronic circuit board
connections.

Working with Arduino to connect and use an IMU (Inertial Measurement Unit) and taking the
readings.

Understanding and appreciating the handshake between the IMU sensors and data output.
ARDUINO UNO

The ARDUINO UNO board is the flagship product of Arduino. It is equipped with the well-
known ATmega328P processor, 14 digital input/output pins, 6 analog inputs, USB connections,
ICSP header and reset button.

The Main Processor is ATmega328P running at up to 16 MHz. Most of its pins are connected to
the external headers, however some are reserved for internal communication with the USB
Bridge coprocessor.

Arduino boards are in compliance with RoHS 2 Directive 2011/65/EU of the European
Parliament and RoHS 3 Directive 2015/863/EU of the Council of 4 June 2015 on the restriction
of the use of certain hazardous substances in electrical and electronic equipment.
Specifications
Microcontroller

ATmega328P (16 Mhz)


Pins

Built-in LED Pin 13


Digital I/O Pins 14
Analog input pins 6
PWM pins 6

Communication

UART Yes
I2C Yes
SPI Yes
Specifications
Power

I/O Voltage 5V
Input voltage (nominal) 7-12V
DC Current per I/O Pin 20 mA
Power Supply Connector Barrel Plug

Memory

ATmega328P 2KB SRAM, 32KB FLASH, 1KB EEPROM

Dimensions

Weight 25 g
Width 53.4 mm
Length 68.6 mm
FUNCTIONS FOR IDE
• Arduino IDE (Integrated Development Environment)
is the handshake software between he computer
and board, by passing code and instructions to the
microcontroller onboard to perform tasks.
• All the libraries and codes are loaded on the coding
interface written in C, and uploaded to the
controller board via tha USB power cable itself.
• The two major parts involve setting up the initial
setups and settings under void setup(), while the
main sequence of steps to be processed and run
come under the void loop(), while other functions
can be declared following the sequence.
INERTIAL MEASUREMENT UNITS (IMUs)

• An Inertial Measurement Unit (IMU) is a sophisticated device that plays a pivotal


role in tracking and measuring an object's orientation, velocity, and gravitational
forces.
• From space launches to the minute movements of your smartphone as you
navigate city streets, and even guiding drones through the skies, IMUs are the
silent navigators behind these processes.
INERTIAL MEASUREMENT
UNITS (IMUs)
• An Inertial Measurement Unit (IMU),
also known as an Inertial Reference
Unit (IRU) or Motion Reference Unit
(MRU), packs a 3-axis
accelerometer and a 3-axis
gyroscope, making it a 6-axis IMU.
Some also include a 3-axis
magnetometer, turning them into
9-axis IMUs.
• We’ll be using a 6-axis IMU unit for
our project ue to commercial
availability constraints.
INERTIAL MEASUREMENT
UNITS (IMUs)
• An Inertial Measurement Unit operates
by detecting linear acceleration
through accelerometers, measuring
rotational rate with gyroscopes, and, in
some cases, employing a
magnetometer for heading reference.
• Each principal axis—pitch, roll, and
yaw—typically includes one
accelerometer, gyroscope, and
magnetometer, providing
comprehensive data on the object's
motion and orientation in three-
dimensional space.
ACCELEROMETER (IMU)

• Accelerometers, the nifty devices that gauge and relay specific forces, come in a
variety of flavors, including mechanical, quartz, and MEMS (Micro
ElectroMechanical Systems) accelerometers.
• Quartz and MEMS accelerometers offer in-run bias stability ranging from 1000 µg
to 1 µg, covering various performance categories.
• With high precision and stability, they are often employed in industries where
accurate measurement of acceleration is essential, such as aerospace, defense,
automotive testing, and geophysical exploration.
ACCELEROMETER (IMU)

• MEMS accelerometers have a tiny mass


connected to a reference system by a spring.
• This setup allows them to measure how fast
something is speeding up or slowing down.
• They keep track of the mass's movement
using capacitors, and special electronic
components.
• When the accelerometer is not moving, the
mass creates a specific capacitance, like a
baseline, showing no acceleration.
• But when there's acceleration, the mass
moves, and this changes the capacitance.
GYROSCOPE (IMU)

• Gyroscopes in an IMU measure angular velocity, indicating how fast and in what
direction something is rotating.
• There are various types of modern gyroscopes, including mechanical gyroscopes,
fiber-optic gyroscopes (FOGs), ring laser gyroscopes (RLGs), and quartz/MEMS
gyroscopes.
• Quartz and MEMS gyroscopes find applications in consumer, industrial, and
tactical markets, while fiber-optic gyroscopes cover all performance categories.
GYROSCOPE (IMU)

• MEMS gyroscopes, commonly used, rely on the


Coriolis effect - a phenomenon describing forces
when an object moves in a rotating frame of
reference.
• The Coriolis effect in MEMS gyroscopes is illustrated
by a circular platform rotating clockwise.
• If a vehicle moves northward from the center, the
Coriolis effect causes it to follow a curving arc to the
west.
• To maintain a northward course, the vehicle applies
Coriolis acceleration.
• In a typical Coriolis MEMS gyroscope, a vibrating
proof mass is attached to a reference frame,
inducing a secondary vibration perpendicular to the
drive axis when rotated.
IMU Without
Magnetometer
• In this configuration, the IMU excels at providing
fundamental data on linear acceleration and angular
velocity.
• Its focus lies in deciphering basic changes in
orientation, with the accelerometers capturing linear
acceleration and the gyroscopes tracking angular
rate.
• However, the absence of a magnetometer presents
certain limitations, particularly in the realm of heading
accuracy.
• Without the capability to directly sense the Earth's
magnetic field, det
• The system may encounter drift over time due to
inherent gyroscopic errors, making it less suited for
applications requiring highly accurate directional
information.ermining precise heading becomes a
challenge.
MPU6050 IMU

• MPU6050 IMU is a commercially


available, easy to access IMU IC
and easy to connect, sense and
control the data via Arduino.
• MPU-6050 devices combine a 3-
axis gyroscope and a 3-axis
accelerometer on the same silicon
die, together with an onboard
Digital Motion Processor (DMP ),
which processes complex 6-axis
MotionFusion algorithms.
Specifications

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