Questions tagged [accelerometer]

Accelerometer is a sensor that measures acceleration.

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Get rotation of IMU data snapshot

I received snippets of data of an IMU with 9 DoF in motion. For these I wanted to get their rotation by angles relative to the earth frame. My goal is to receive ...
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1 answer
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remove gravity from acceleration on Myo armband IMU measurements

I'm working with the Myo armband through the myo_ros package. The device is able to provide IMU measurements comprising orientation, linear acceleration and angular velocity. The orientation is ...
1 vote
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Math for video stabilization per axis translation with Accelerometer not gyro [closed]

Moth stabilization math is around gyro based sensors (pitch, roll and yaw) however they cant correct per axis movement. But in many phones digital stabilization methods uses accelorometer to do that. ...
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Mapping IMU readings from body frame to navigation frame

I'm trying to combine IMU displacements with the time of flight sensor readings in order to navigate through the indoor environment with a non-linear Kalman filter variant. In the graphic below, I ...
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Aligning accelerometer readings with vehicle's frame of reference

I have a device with an accelerometer installed in a vehicle. Its orientation in relation to the vehicle is unknown. So I am looking for a reliable way to align the coordinate system of the ...
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IMU Senosr fusion algorithm of gyro and accelerometer during acceleration of vehicle

Hello so we have a car with 10 IMUs mounted at different locations of the car and the idea is the measure the centripetal force at each location of the car and compare it to each other. We also need ...
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How to calibrate an accelerometer?

I'm confused about a few points on how to best calibrate an accelerometer, whose data will be used in an orientation sensor fusion algorithm. As a summary, the most common approaches I've seen take ...
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1 answer
80 views

Why doesn't yaw angle return to its 0 state after rotations?

I'm using STM32F4 mcu with MPU6050 on it. I want to get very accurate yaw angle using gyroscope with Madgwick filter. I tried lots of things: with and without gyro thresholds, with and without ...
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I'm controlling a stepper motor with GPIO pins with a for loop in C++. If I add a sensor reading to the for loop the motor gets slow, loud, and jerky

I have a C++ script actuating a motor and getting an accelerometer sensor reading every 20th or so pulse to the stepper motor. My problem is that the sensor readings are interrupting the pulses. ...
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How would you sync a real life accelerometer with an accelerometer in a simulation program

How would you sync a real life accelerometer with an accelerometer in a simulation program. In this case I am using MuJoCo for simulation and a Gy-521 is my physical, real life accelerometer.
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Aligning the coordinate systems of accelerometer and vehicle

I have an accelerometer located in an arbitrary position on a car. As the accelerometer already has a coordinate system by default, I want to find some method that allows transforming the data I have ...
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Can a Madgwick IMU filter be used to determinate the tilt angle with respect to the horizontal plane

I am using a 3-axis accelerometer and a 3-axis gyroscope to estimate the tilte angle between the X axis of the IMU sensor and the ground (horizontal plane). My robot is stationary at power up, so I ...
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1 answer
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Determine road curvature radius using non GPS sensors

I’m trying to solve for the “curvature” of a road, and wondering if this can be done with a standard mobile phone. If I have a mobile phone fixed onto my vehicles windscreen, using only standard ...
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86 views

Bug in code of Self-Balancing Bot

I am making a Self balancing bot as my project in which I am using MPU6050, Arduino Uno, motor driver l298n and DC motors. I am making this using data from accelerometer and gyroscope and combining ...
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1 answer
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Are there any analog data loggers for recording PCB 353b33 accelerometer datapoints for a minute or more?

I'm currently recording data points from an analog accelerometer(PCB 353b33) using a TDS3014B oscilloscope which has a Record Length of 10,000 points at a Sample Rate of 1.25 GSa/s. Since the ...
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3 answers
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Determining the turn of robot using gyroscope and accelerometer data

I have the "x", "y" and "z" readings of gyroscope and accelerometer. From these readings I want to interpret that wether my robot took a right turn or left turn. Can some ...
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Find IMU's movement direction in x-axis

I have an IMU device with an accelerometer sensor and I fix that on top of the linear motion rail.so it can only move to the right or left (in the x-axis) side. How can I determine the direction (...
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Measurements of IMU (accelerometer and gyroscope) are drifted or with too much error

I placed my drone on a table (i.e, at rest) and save (using a ROS topic) the IMU readings: As you can see, there's a lot of drift or error. I would expect the $x$ and $y$ acceleration to be 0 (I know ...
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1 answer
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How to create a Complementary Filter for a linearly accelerating body to obtain estimate of orientation in quaternion?

A complementary filter (CF) uses orientation obtained calculated from gyroscope, accelerometer and magnetometer to find a more accurate measurement of orientation. However, when my sensor is ...
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NodeMCU ESP-12E Wont Print to Serial in Arduino IDE

So, im using a ESP-12E nothing special about it, to try and run this code i found from a custom library example. ...
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1 answer
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Data collected from ROS

How can we collect the flight data after a ROS simulation and what kind of dataset do we obtain? Can we get the sensor and video dataset with timestamps to be used in analysis?
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How can i fusion gyroscope and accelerometer when accelerometer has only roll,pitch val?

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 ...
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MPU6050 Gyro rotaion always around Y axis

I am using an MPU6050 IMU. I did a small experiment having Z-axis pointing upwards. 1. Rotate 90deg around Z-axis (yaw) and back to the original position 2. Rotate 90deg around X-axis (roll) and back ...
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Using an accelerometer for position

I have some accelerometers hanging from strings. I would like to be able to compute the position of the string from the accelerometer reading. What I think I need to do is: Compute a transform from ...
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MPU-6050 as a compass not affected by magnet!

I am using an MPU-6050 as a compass connected to an Arduino Uno and using the AccZ register presumably from the accelerometer. So, first question, is the magnetometer signal processed internally with ...
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329 views

Accelerometer and gyroscope noise and bias

I am doing an EKF (Extended Kalman Filter) to fusion Visual Odometry with IMU information. I am using a ROS package called ethzasl-msf (I am using the multi sensor fusion because then I have to add ...
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Is the information on the following link logical?

I cannot comment on the original answer, so I had to ask like this. I am trying to learn IMU's, accelerometers, gyros etc. for a while. So I came across with this answer below, https://engineering....
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What is required to get the roll, pitch and yaw of an aerial vehicle?

TL, DR : What is the method(in terms of sensors and algorithm) to get the roll, pitch and yaw of an aircraft at any instant. I am planning to build a hobby aircraft. I am so confused about which kind ...
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How to transform raw accelerometer data into the Earth fixed frame to determine position

I have data from a TeleMega and do not understand how to apply the rotation matrix for the accelerometer data so that I can get the more accurate position estimate from my accelerometer. My data comes ...
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372 views

Sensor fusion to calculate joint angles between segments of a robot arm using IMU data

I have an IMU attached to each of the segments of a robotic arm, which gives me accelerometer and gyroscope data. My goal is to first of all improve the quality of the sensor readings and subsequently ...
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Writing IMU accelerometer data into as twist messages into cmd_vel

I am reading accelerometer data from the wiimote /wiimote/state topic. A sample of the data I'm working with is as follows: ...
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Accuracy of monocular visual-inertial odometry

I am currently considering to use monocular visual-inertial odometry (VIO) to localize a smartphone relative to a known object. Now, what I would like to understand is, what kind of accuracy I can ...
2 votes
2 answers
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Is pose estimation using images necessary in visual-inertial SLAM

In visual SLAM, pose estimation is performed between two adjacent frames or keyframes using feature detection and pose estitmation from corresponding features. However in visual-inertial SLAM, pose ...
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How reliable are IMUs for a long usage (6 hours) rotation (only) tracking?

I know they are bad for positional tracking and drift from actual position over time but would like to know what is the situation with rotation only. I know Oculus DK1 used ordinary off-the-shelf ...
2 votes
1 answer
322 views

measurement model of the accelerometers in IMU

I am new to IMU. About the measurements from IMU, different materials give different explanations. From the link: https://www.it.uu.se/edu/course/homepage/systemid/vt14/tokp2.pdf Here the b maybe ...
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2 answers
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KF/ EKF - Modelling and tuning noise matrices and other parameters

I am developing C++ code to estimate roll and pitch of a camera using accelerometer and gyroscope. The roll, pitch and yaw are in my state space ($X_t$) and the process is modeled as: $\bar{X_t} = X_{...
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Orientation estimation using gyro and accelerometer when sensor platform has high acceleration

I am trying to estimate the orientation of a sensor platform using gyroscope and accelerometer. I am using a Kalman filter based approach. I integrate the readings ...
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9 votes
2 answers
778 views

Accelerometers in a self-balancing robot, can't we do better?

I'm currently reading on self-balancing robots that use an IMU (gyroscopes + accelerometers) to estimate their current tilt angle. Most documents that I have found say the same things: You can't ...
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Integrating Instantaneous Accelerations taken at discrete time intervals

I am trying to integrate instantaneous linear and angular acceleration taken at discrete time intervals (1/100 seconds, 100hz). data is collected beforehand, and integration is done offline, I only ...
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2 votes
1 answer
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Yaw from accelerometer? No! So what do these equations actually mean?

note: I'm just a day or so into the use of inertial measurements and trying to learn everything at once, this may be a noob question (it's my first here). I have seen this image of "Figure 8" in ...
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2 votes
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IMU measurement model

I read in this set of slides on p.11 that the IMU measurements, such as acceleration are affected by bias and noise, as expressed in this equation: $_B \mathbf {\tilde a} _{WB}(t) =\ \mathbf R_{BW}(...
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How would i implement position and heading readings into my SLAM system?

I am trying to build a low-cost SLAM system with an MPU-6050 and GY-271 (magnetometer). Currently, i have a robot with an Arduino that collects the sensor data and a Raspberry Pi that (hopefully) will ...
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3 votes
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546 views

Compensation for IMU mounting misalignment

I have an MPU6050 IMU and I would like to mount it on an FSAE car and use it to measure the yaw, pitch, roll, and angular velocities as it drives. As it's impossible to mount it perfectly flat and ...
4 votes
1 answer
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Coordinate transform of accelerometer on rigid body

I have a question about something that seems like it would be pretty basic, but so fair I haven't been able to find a whole lot of discussion on the issue. It's possible I'm not not familiar enough ...
1 vote
0 answers
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How can there be a difference in quaternion values of two points taken from sensors where the orientation is exactly same?

I have two situations- A) One, the body with sensor embedded in it kept at rest. B) Second, the body is at rest for 10 secs, then undergoes some movement randomly and comes back to the exact ...
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5 votes
3 answers
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Does multiple IMU increase accuracy

I'm just starting up with IMU's and I really want to work on my own flight controller, but a question always hits my mind and I am not able to find answer anywhere, so I'm here. Will multiple IMUs ...
3 votes
1 answer
443 views

How can I compensate for pendulum and cart motion when using an accelerometer to detect the tilt angle?

I have an accelerometer mounted to an inverted pendulum (i.e. a cart-pole robot) which I'm using to measure the tilt angle from the vertical upright position (+y direction). If the inverted pendulum ...
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6 votes
2 answers
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Explanation of Quadcopter Dynamics, Components and Control

I am about to build my own quadcopter from scratch. However i am having problem with understanding how it is possible to control the quadcopter without knowing the current rpm of the BLDC motors. ...
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which is best IMU for Quad-Copter [closed]

Actually i am trying to write my own Flight Controller for Quad-Copter that is controlled by Remote over radio signals.So for a flight controller i have to buy a inertial measurement unit(IMU).So ...
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1 answer
1k views

Problem with angle calculation

I'm using MPU6050(accelerometer+gyro) connected to ATmega328P microcontroller, but probably it isn't even important in my case. In my project, I need an angle around the X axis. And it's calculated ...
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