adrian-soch/IMU-GPS_Fusion

Determining speed with GPS and IMU data fusion

IMU-GPS_Fusion

A collection of arduino examples to run on the Sparkfun Razor 9dof IMU M0 (SAMD21 based boards)

To-Do

• Adjust complimentary filter gain
• Function to remove gravity acceleration vector (output dynamic accerleration only)
• Implement Haversine Formula (or small displacement alternative) to convert lat/lng to displacement (meters)
• Implement Kalman Filter (or EKF) for sensor fusion

Usage

• Install libraries in arduino ide
• Connect hardware (GPS) Tx Rx Vcc Gnd
• Flash board with desired .ino

Resources

• http://arduiniana.org/libraries/tinygpsplus/
• https://github.com/PowerBroker2/NEO-6M_GPS
• https://github.com/rfetick/Kalman
• https://github.com/kriswiner/MPU9250