Integration of the ADIS16465 Tactical-Grade Inertial Sensor with the Open-Source Pixhawk Autopilot and PX4 Flight Stack

reportActive / Technical Report | Accesssion Number: AD1169845 | Open PDF

Abstract:

A tactical-grade inertial measurement unit (IMU) provides more stable measurements over low-cost IMUs in accuracy and precision. We developed a PX4 Autopilot device driver for a tactical-grade IMU, ADIS 16465, and a daughterboard for the Pixracer R15, a Pixhawk hardware flight controller. The daughterboard communicates over the serial peripheral interface (SPI) to receive IMU measurement data from the ADIS16465 and sends the data to the Pixracer R15. By adding the components in a compact way, we demonstrate that the proposed method replaces low-cost IMUs with a high-performance IMU while guaranteeing the clearance for the other connections that the Pixracer R15 offers. The entire source code that we modified to the legacy source tree is documented, and we validated the connection and functionality of the IMU. Readers who want to usetactical-grade IMUs, in particular the ADIS 16465 with a Pixracer R15, could reproduce our result in this technical report with minimal effort.

Author(s):
Han, Sangjin ; Sabbagh, Paul
Author Organization(s):
DEVCOM Army Research Laboratory
Funding Organization(s):
DEVCOM Army Research Laboratory, Adelphi , MD
Document Type:
Technical Report/Technical Report
Publication Date:
2022 May 01
Pagination:
55

Security Markings

DOCUMENT & CONTEXTUAL SUMMARY

Distribution Code:
A - Approved For Public Release
Distribution Statement: Public Release

RECORD

Collection: TRECMS
Identifying Numbers
Report Number(s):
ARL-TR-9463
Program Element Number(s):
0602184A
Project Number(s):
CN2
Subject Terms
Modernization Areas:
Quantum Science and Computing
Communities of Interest:
Sensors
Descriptor(s):
inertial measurement units, device drivers, computer programs, measurement, microelectromechanical systems, military research, circuit boards, operating systems, printed circuits, abstracts, aircrafts, printed circuit boards, accuracy, automatic pilots, closed loop systems, data processing, identification
Keyword(s):
PX4 autopilot, IMU, SPI, ADIS16465, Pixracer R15, device driver, Photonics, Electronics, and Quantum Sciences
Creation Date:
2022 May 27
Update Date:
2022 May 27