IMU Fusion System

Important

This project is an MVP and only implemented in 2D. Future work could include extending the algorithm to 3 or more dimensions.

This project implements a robust and real-time Inertial Measurement Unit (IMU) fusion system designed to accurately estimate position using data from multiple IMUs arranged in a planar configuration. The system leverages geometric constraints and a real-time 2D point cloud to mitigate drift and noise inherent in IMU measurements.

The name. A tongue-in-cheek name derived from the fundamentals of the algoithm, which is a circle-based algorthism designed to reduce jitter (jerking) in IMU timeseries data.

Table of Contents

• Overview
• Architecture
• Installation
• Usage
• Contributing
• License

Overview

The IMU Fusion System aims to achieve high accuracy in position estimation while maintaining real-time performance. The system processes data from four IMUs at a frame rate exceeding 1000Hz, ensuring low computational overhead and robustness against measurement uncertainties.

Architecture

The system operates in the following stages:

1. IMU Data Acquisition: Collects acceleration and angular velocity data from four IMUs and synchronizes the data temporally.
2. Individual Position Estimation: Integrates acceleration and angular velocity to compute position estimates for each IMU and estimates uncertainty based on noise and integration drift.
3. Geometric Fusion: Models each position estimate as a circle and computes an initial fused estimate while applying rigid body transformations to enforce fixed distances.
4. Point Cloud Generation: Maps real-time IMU position samples into a 2D point cloud.
5. Position Refinement: Projects the fused position onto the point cloud using nearest neighbor search or mean of nearby points.

Installation

To install the IMU Fusion System, ensure you have Go installed on your machine. Clone the repository and navigate to the project directory:

git clone <repository-url>
cd imu-fusion

Then, run the following command to download the necessary dependencies:

go mod tidy

Usage

To run the IMU Fusion System, execute the following command:

go run cmd/main.go

This will initialize the system, set up data acquisition, and start processing the IMU data.

Contributing

Contributions are welcome! Please open an issue or submit a pull request for any enhancements or bug fixes.

License

This project is licensed under the MIT License. See the LICENSE file for details.