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inertial_sensors

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Inertial sensors are used by the autopilot to maintain course.

Sensors typically have 3 axis, and include accelerometer, gyroscope, and compass.

– picture – mpu9250/mpu9255 – With yellow capacitor good

– picture – mpu9250/mpu9255 - with orange capacitor accelerometer bias bad.

Calibration

For the autopilot to work correctly the inertial sensors must be calibrated. Typically this is just an offset or bias for each of the sensors.

Many sensors have accurate accelerometer bias from factory, if not, calibration is needed.

The gyroscopes continuously automatically update their bias, so calibration is not needed.

The compass can change widely depending on where it is and what is around it so must be calibrated once mounted to the boat.

inertial_sensors.1532185837.txt.gz · Last modified: 2018/07/21 15:10 by seandepagnier