Module imu mod AACEX_v 0.1

Overview

This module is designed to compute camera acceleration on the base of the relative acceleration provided by the IMU. In order to perform this computation, the time integrated camera attached frame as to be provided to the module.

Module nomenclature

This stream module waits four input physical streams. The first stream has to provide relative translational accelerations obtained through IMU sensors. The three other physical streams have to carry time integrated components of the three vectors that define the camera attached frame. The nomenclature of the module is shown on the following image :

The module provides a single physical stream that carry the three components of the gravity-less extracted acceleration.

Module interface

This section gives a summary of the module interface in terms of streams and devices. The order of devices and streams is given as waited by the module. The devices interface is given by :

device( Physical ) IMU sensor

The stream input interface is :

stream( Physical | IMU ) Translational accelerations
stream( Physical | IMU ) Frame x-vector
stream( Physical | IMU ) Frame y-vector
stream( Physical | IMU ) Frame z-vector

and the stream output interface is :

stream( Physical | IMU ) Gravity-less translational accelerations

The three last input streams are attached.

Module operation

The module consider simply the frame attached to the camera in order to compute the linear operation that convert relative acceleration into absolute acceleration at a given time.