Questions tagged [accelerometer]

Accelerometer is a sensor that measures acceleration.

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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 ...
1 vote
1 answer
35 views

Opposite direction of rotation calculated by Gyro and Accelerometer

I have just started learning how to fuse the data measured by the gyro and accelerometer to estimate the attitude of an IMU in Matlab. I have no problem estimating or understanding the Euler angles ...
0 votes
1 answer
68 views

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.
0 votes
1 answer
111 views

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 ...
0 votes
1 answer
96 views

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 ...
0 votes
1 answer
121 views

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
0 answers
15 views

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. ...
1 vote
1 answer
348 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 ...
0 votes
0 answers
105 views

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 ...
0 votes
0 answers
82 views

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 ...
0 votes
0 answers
38 views

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 ...
0 votes
1 answer
105 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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36 views

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. ...
1 vote
1 answer
30 views

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 ...
5 votes
3 answers
18k views

How to calculate Euler Angles from gyroscope output?

I am using a tri-axis accelerometer and tri-axis gyroscope to measure the linear acceleration of a body. I need to get the orientation of the body in euler form in order to rotate the accelerometer ...
0 votes
2 answers
165 views

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 ...
0 votes
1 answer
421 views

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 ...
0 votes
1 answer
35 views

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 ...
0 votes
1 answer
92 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 ...
1 vote
1 answer
111 views

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 ...
8 votes
1 answer
9k views

How are units of noise measurement related to units of a sensor's data measurement?

I'm trying to understand how noise is represented for accelerometers, gyroscopes, and magnetometers so that I can match the requirements of my project with the standard specs of these sensors. I ...
1 vote
3 answers
85 views

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 ...
3 votes
0 answers
45 views

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
4 answers
608 views

Understanding the various attitude estimation methods

I am building a quadcopter using the Arduino Uno with a 6dof accelerometer and gyro. I will be adding a separate 3 axis magnetometer soon for heading. I have successfully implemented the code that ...
0 votes
0 answers
59 views

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 (...
1 vote
1 answer
170 views

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 ...
0 votes
1 answer
54 views

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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0 answers
132 views

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. ...
0 votes
1 answer
211 views

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 ...
2 votes
2 answers
162 views

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 ...
0 votes
0 answers
51 views

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 ...
7 votes
3 answers
399 views

Paradox: I can't use accelerometer measurements to obtain information about my states in a quadcopter?

I'm currently developing an EKF to estimate the position and orientation of a quadcopter. My state vector is comprised of 3D position, 3D velocity, 3 euler angles and the angular velocity vector. ...
3 votes
2 answers
558 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 ...
0 votes
1 answer
1k views

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 ...
2 votes
2 answers
180 views

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 ...
2 votes
2 answers
59 views

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....
4 votes
2 answers
189 views

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_{...
0 votes
1 answer
2k views

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 ...
-1 votes
2 answers
393 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 ...
1 vote
0 answers
88 views

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: ...
6 votes
2 answers
10k views

Altitude hold for quadcopter with Accelerometer and Barometer

I wonder currently how to implement an altitude control for a quadcopter. I have atm just a barometer/GPS and an accelerometer. Barometer and GPS are relatively straight forward implemented, but not ...
3 votes
2 answers
178 views

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
345 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 ...
4 votes
1 answer
770 views

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 ...
4 votes
1 answer
2k views

Simulate IMU (2D gyro and accelerometer) data

If I have a robot path in 2D space, i.e. a vector of (x,y) locations, and I need to generate artificial IMU data (simulate them), how would I go about it? How do I model equations to generate the ...
5 votes
3 answers
971 views

Drift in Integrating Angular Acceleration to Angular Velocity using two accelerometer data

I am trying to integrate Angular acceleration obtained from a set of accelerometers positioned specifically at opposite corners of a cube, based on "EcoIMU: A Dual Triaxial-Accelerometer Inertial ...
0 votes
1 answer
329 views

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 ...
9 votes
2 answers
794 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 ...
3 votes
1 answer
453 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 ...
5 votes
1 answer
8k views

Visualizing raw accelerometer and gyro data

I have an arduino wired to an MPU6050 breakout board. The arduino continuously collects accelerometer and gyroscope data from the MPU6050 and calculates angle and velocity. Simply plotting the ...