For my knowledge of GPS sensors (for some reason I had
to use many type of such sensors) that:
1) the position accuracy of a 'standard' GPS (i.e. non
RTK or dual frequency ones) is never better than 1-2mt
and such performance can only be achieved with a good
satellites constellation in sight (IMHO this
performance is reached in less than 20% of the working
time);
In standard condition (60% of the working time) the
accuracy falls to 3-5mt;
2) ground speed measurement is pretty accurate (much
better than position);
3) heading can be accurate if ground speed is greater
than 0;
4) height estimate is by far the most 'problematic'
measurement estimation that such sensors can
do so be carefull to use this data for nothing more than
a reference (i.e. autopilot cannot use
this data for landing purposes );
Sent: Wednesday, September 09, 2009 5:08 AM
Subject: Re: [Paparazzi-devel] Re: Interfacing to the EagleTree
airspeed sensor
Vassili:
Hi, good work for the air speed sensor. Ublox
GPS does give an estimate regarding the GPS data accuracy. In "NAV_SOL" msg
(GPS_SOL on pprz GCS), there is Pacc(3D Position Accuracy Estimate ) and
Sacc(Speed Accuracy Estimate ). Of coz, we have to assume the manufacture
estimate is good.
Haiyang
On Tue, Sep 8, 2009 at 8:27 PM, Vassilis V. <address@hidden> wrote:
Roman,
I was thinking about this, but my concern is that I am not sure how much
confidence I should have on the GPS data. The speed should
be relatively accurate but it is ground speed so any wind gusts
or changes in the attitude will introduce an error related to the airspeed. I
never had too much confidence on the GPS reported altitude. I can upload the
CSV files from my test flights if you would like to have a look at the raw
data. Keep in mind that at this point I had to reverse engineer the I2C
protocol and conversion of the raw values to altitude and airspeed so I can
not be certain on the calculations done by the sensor
itself.
A few days ago I finally got a response from Bill Parry of EagleTree and
he offered to give me some information. I will let you know when I get more
details.
A few emails from those of you interested may give Bill him an
extra intensive to be
more forthcoming ( billpa_at_eagletreesystems_dot_com)
Regards,
Vassilis
On Sep 8, 2009, at 4:40 PM, Roman Krashanitsa wrote:
Hi Vassilis,
Good job on the airspeed sensor. Did you do any finer analysis on error
estimates for the sensor? From the plot, I can see that your GPS
measurements were not very stable and/or airspeed measurements are very
inertial. Is it true?
What was the mean and deviation of the difference between GPS and
airspeed readings in a stable portion of the flight?
Roman
2009/9/7 Vassilis V. <address@hidden>
I got both the airspeed and altimeter sensors from
EagleTree working. The source code and some data can be found
at:
http://vrhome.net/vassilis
At this point I am
simply passing the airspeed and altitude through the telemetry down to the
ground station. The next step is to work on fw_v_ctl.c to allow the
airspeed to be used for controlling the throttle (i.e. maintain
constant airspeed). This will take me a bit longer, I will let you know
when I have something working.
Vassilis
On Sep 6, 2009, at 9:59 AM, Vassilis V. wrote:
All,
I had a successful flight with the
EagleTree airspeed module ( http://www.eagletreesystems.com/Support/manuals/airspeed-v3.pdf )
connected to my TWOG. I did not have to do any hardware modifications,
the sensor has an I2C interface that I connected directly to the TWOG
I2C port. I was able to figure out the slave address and decode the raw
output of the sensor. The results are quite good, the module is low cost
($43) and comes with a very good pitot tube that includes static and
dynamic ports. For now I am simply sending the airspeed through the
telemetry, the next step would be to modify the autopilot code to
regulate the throttle in order to keep the airspeed constant (and a
minimum ground speed). I will do the same with the altimeter
sensor.
See http://vrhome.net/vassilis for more information, I
will publish the code as soon as I have the altimeter tested (probably
in a week or so). Is there any interest on getting this released code
released into
CVS?
Vassilis
_______________________________________________ Paparazzi-devel
mailing list address@hiddenhttp://lists.nongnu.org/mailman/listinfo/paparazzi-devel _______________________________________________ Paparazzi-devel
mailing list address@hidden http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
_______________________________________________ Paparazzi-devel
mailing list address@hidden http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
_______________________________________________ Paparazzi-devel
mailing
list address@hidden http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
|