# Questions tagged [accelerometer]

Accelerometer is a sensor that measures acceleration.

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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.
304 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 ...
9 views

### Why different noise terms are read at specific sampling interval in Allan Variance plot?

I was trying to identify Quantization Noise, Angle Random Walk, Bias Instability, and Rate Random Walk from Allan Variance plot which as Allan deviation on y axis and Sampling Time Interval ...
74 views

### IMU frame transfer to body frame

I am just wondering how do we transfer IMU readings to Body frame? Especially, linear speed and acceleration. In following diagram, the IMU is mounted on one of the surfaces of the body (you can ...
74 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 ...
1 vote
115 views

### 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 ...
70 views

### Finding North direction from magnetometer and accelerometer fusion

I was understanding accelerometer and gyro sensor fusion from this video. At time 3:56, Brian says: To get north, we need to do some cross products. We can start with our measured mag (magnetometer) ...
44 views

### How to convert accel data to quaternion?

To ask my question better, let's assume that I have created 2 different accel data: timestamp accel_x (m/s^2) accel_y (m/s^2) accel_z (m/s^2) 1 0.0009314967509892153 0.004056761742037966 -9....
182 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 ...
11 views

### Seeed studio Grove IMU 9DOF gyro reading denoising

Using this IMU (https://wiki.seeedstudio.com/Grove-IMU_9DOF-lcm20600+AK09918/), I am having an issue with the gyro readings. Seems like the reading comes with lots of noise. Could anyone help me to ...
132 views

### accelerometer and gyroscope fusion using extended kalman filter

I'm working on my graduation project which is characterizing human body posture. I'm using IMU so I get measurements from the accelerometer and gyroscope and I'm wealing to fuse these two filters so I ...
462 views

### Calculation of IMU offset for Placement of Inertial measurement unit away from centre of mass

I am working on a 6DOF IMU that contains a 3-axis accelerometer and a 3-axis gyroscope. I am building a project to plot the position and orientation of a vehicle/dirt bike in a 3d plane. However, the ...
1 vote
744 views

### Center of gravity offset for accelerometer and gyroscope readings

I am working on a 6DOF IMU that contains a 3 Axis Accelerometer and a 3 Axis Gyroscope. I am building a project to plot the position and orientation of the turret/cabin in a crane in 3D space. The IMU ...
1 vote
177 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 ...
401 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
32 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
476 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 ...
281 views

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 ...
151 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 ...
249 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 ...
71 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
33 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 ...
21k 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 ...
414 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 ...
768 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 ...
52 views

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 ...
117 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
182 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 ...
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
244 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 ...
638 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 ...
106 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
279 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 ...
63 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?
214 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. ...
350 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 ...
181 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 ...
78 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 ...
427 views

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. ...
750 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 ...
2k 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 ...
300 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 ...
61 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....
231 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_{...
3k 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 ...
577 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
120 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: ...
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 ...