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Strapdown Inertial Navigation System RRS feed

  • Question

  • I am new to both robotics and the MSRS.  My end goal would like to build an autonomous model airplane, although I have a long way to go before I get there.  My question for now is if anyone has attempted to build a Strapdown Inertial Navigation System using MSRS and C#?

     

    Surfing the net I found a couple of pre built systems, but they are pricy and the point is to build one not buy one.  Here are the links:

     

    http://www.procerusuav.com/productsKestrelAutopilot.php

    http://www.cloudcaptech.com/piccolo_plus.shtm

     

     

    A somewhat related question.  I see that there are many services for hardware such as the LEGO NTX and tutorials on how to use the service.  Are there any tutorials on how to write a service to interact with a piece of hardware (ie. How to write the NTX service not just use it) not supported by the samples?

     

    Thanks

    Justin

     

    Wednesday, July 30, 2008 10:11 PM

Answers

  • Check out Robotics Tutorial 6.  It steps you through creating a 'brick' contract just like the Lego services.  But it does not deal with the specifics of the hardware interaction.  This is typically done through the COM port, or COM port over bluetooth, which are easy to do in .NET.  Or if you have USB hardware, then the vendor should supply you with a dll and API.  There are lots of samples in MRDS that interface with hardware that you can follow.
    Friday, August 1, 2008 1:47 PM

All replies

  • Check out Robotics Tutorial 6.  It steps you through creating a 'brick' contract just like the Lego services.  But it does not deal with the specifics of the hardware interaction.  This is typically done through the COM port, or COM port over bluetooth, which are easy to do in .NET.  Or if you have USB hardware, then the vendor should supply you with a dll and API.  There are lots of samples in MRDS that interface with hardware that you can follow.
    Friday, August 1, 2008 1:47 PM
  • Thanks Ben.  I will take a look at the brick service example.  I also found some good examples of hardware communication in the Serializer WL Robot Controller examples.

     

    http://www.roboticsconnection.com/p-16-serializer-net-robot-controller.aspx

     

    Have you ever used this controller or know anything about it?  Not sure if I am wasting my time or headed down the right path.

     

    Thanks
    Justin

     

    Friday, August 1, 2008 4:20 PM
  •  

    Hi,

     

    I have used http://www.xsens.com/en/products/machine_motion/mti.php from Xsens with MRDS and C#. I suggest this one. You can develop your INU with this IMU. http://blogs.msdn.com/msroboticsstudio/archive/2008/02/27/robotturk-disaster-emergency-video-system.aspx

    Good luck

    Thursday, August 7, 2008 12:04 PM
  • Hi Justin,

     

    I have deliberately stayed out of this discussion because I don't know much about UAVs. However, I have used the Serializer board because it is used in the Traxster and Stinger robots. It seems to work fine.

     

    I do have one comment about the RoboticsConnection drive service though, and I have made this known to RoboticsConnection. There is a flaw that exists in a lot of drive implementations. If you use a joystick and wiggle it around quickly, the requests back up in the queue and the robot continues to follow commands long after you have stopped moving the joystick.

     

    I know this is going to sound like a plug for our book, but it is the simplest way to explain it -- if you look in Professional Microsoft Robotics Studio in the Hardware section you will find an implementation of a drive service that does not have this problem. You can get the code here:

    http://www.promrds.com

     

    Trevor

     

     

    Thursday, August 7, 2008 4:51 PM
  • Oguz,

     

    I was actually looking at the Xsens site and it looks like they have some cool products.  What did you use this IMU for and what controller did you use (if any)?  There are no prices on their website, so I was wondering (if you don't mind me asking) how much the IMU is?  Keep the info coming... it is a great help.

     

    Thanks
    Justin

     

    Friday, August 8, 2008 8:35 PM
  • Justin,

     

    We have used Xsens to create an unmanned aerial vehicle. As a controller, we used Serializer.NET. Prices of Xsens is available via e-mail. It depends on the things you want to buy and SDK. We also have implemented the .NET and CF library of it is SDK.

     

    Ömer

    Tuesday, August 12, 2008 12:10 PM
  • Omer,

     

    Do you happen to have a diagram of how you laid out your hardware?  I was wondering how you connected our xsens imu to the serializer controller.

     

    Thanks
    Justin

     

    Wednesday, December 10, 2008 9:02 PM
  • Hi Omer,

     

    Would it be possible to share your .NET code of MT SDK? I'm working on a research project and it will save me a great amount of time if you could share the code.

     

    Thanks

    Sunday, January 9, 2011 11:33 AM
  • You can try to connect Xsens to your embedded pc.
    Wednesday, March 9, 2011 8:36 AM