I'm currently studying IMU Sensor with 6dof(gyro and accelerometer). My goal is to get Orientation of robot, and i found out that only 6dof imu sensor wouldn't be possible to get a correct Orientation due to noise and gyroscope yaw drift(also roll and pitch).
But, I just want it to try with errors. (Working on the ROS.)
so I managed to get data from my IMU sensor data which gyroscope's R,P,Y and Acceleromter's R,P. The Problem was that i don't know how to get a quaternion for some other library(package), so i just used gyro's yaw value and accelerometer's roll and pitch value to find quaternion.
Other fusion algorithms such as EKF,Complementary Filter ask linear_acc, angular_v, and Quaternion. But I don't feel like my ways to get quaternion is the right ways to do it.
So, Am i doing something wrong? How can i mix(or use) gyroscope's roll, pitch, yaw data and acclerometer's roll,pitch,yaw(?) data to get a quaternion that fusion algorithms ask?
some information : I'm using Microstrain 3dm-cx5-15, using ros, managed to publish sensor_msgs/Imu (with not quite correct quaternion) thx for the replies, any insight will help me sorry for my bad english.