Compass Error Calculation

Friday, April 16, 2010

The results are in, and the compass did not do well. If the compass was reading correctly, then even with some level of error in each measurement we should see no trends.

These do not appear to be random errors. We will have to try this again with another INS and see if we get a similar result.

Compass Error Measurement

Wednesday, April 14, 2010

Today we started investigating a possible error in our compass measurements by recording the INS heading and GPS coordinates. Basically, we mounted the INS and GPS on a piece of plywood, hooked up a laptop and car battery, and threw the whole setup into a non-ferrous plastic radio flyer wagon.

This is the path recorded by the GPS as we went around and across the football field. The goal was to get data in as many directions as possible, but long enough runs in each direction so that we'd get good averages.

Interactive AUV Mission Planning with Google Earth

Monday, April 5, 2010

In winter, we develop.

For best results, watch the HD (720p) version in full screen.