Questions tagged [accelerometer]

Accelerometer is a sensor that measures acceleration.

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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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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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Compute tangential acceleration of a specific point using IMU data?

I have a question about using datas coming from an imu on a vehicle. The IMU is placed near the rear wheel axle of the vehicle. The reference frame for vehicle control is placed between rear wheels. ...
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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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223 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 ...
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104 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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398 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 ...
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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 to localize a smartphone relative to a known object. Now, what I would like to understand, is what kind of accuracy I can expect ...
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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 ...
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123 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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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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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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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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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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358 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 ...
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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 ...
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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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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 ...
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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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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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959 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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545 views

How to transform Accelerometer data from the robots frame to the world frame

I'm current workin on an EKF for an carlike robot and I'm not sure how to transform the IMU accelerometer data to offset the roll, pitch and yaw and get the acceleration with respect to the ground. I'...
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3k views

How to interpret and use values of an accelerometer

Currently, I'm building a quadcopter using Arduino. To make the copter able to stabilize I use an mpu6050 accelerometer + gyroscope. I understand that I can get the angle of rotation by integrating ...
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1answer
821 views

Angles from gyroscope readings using quaternions

I am using gyroscope only to get real time angles as I move the IMU using a micro controller. I am able to get angles at a pretty decent accuracy(2 to 3 degree error). I am using quaternions for ...
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What sensors and algorithms are used in Digital Pen for tracking hand writing?

Could anyone tell what are the sensors used in a digital pen which or specifically Equil smart pen and smart marker which can track hand writings. Is it MEMS based??If Yes, Is it MEMS accelerometer ...
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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. ...
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Accelerometer deterministic errors

I am working on MEMS accelerometers, and I want to understand the difference between, Cross axis sensitivity Axis Misalignment Non Orthogonality In literature, people use it interchangeably. ...
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Complimentary filter issues

I'm trying to implement the complimentary filter to get Euler angles using accelerometer and gyroscope data. Attached is the MATLAB code that I have along with a data set. The data corresponds to ...
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220 views

Utilizing the inertial sensors in an AR Drone

I'm trying to figure out how to use the inertial sensors in an AR Drone to perform a rough version of dead reckoning. I want to move the drone around a room (without flying it) and using the velocity ...
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3answers
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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 ...
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336 views

Gauss Newton Method for Accelerometer calibration

I am following the code obtained in matlab file exchange for the paper http://ieeexplore.ieee.org/document/4655611/ He calculates the Hessian matrix as follows using Jacobian Matrix J, ...
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Angular Velocity from dual tri axial accelerometers

Can anyone throw some light on using accelerometers to measure angular acceleration and hence angular velocity. This approach is to avoid gyroscopes due to drifting errors. Any links for this also ...
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Can I use a 3D gimbal system as a simplistic quadcopter IMU(3 axis accelerometer)?

i have 3d gimbal system and i want to use this sensor in place of IMU(3 axsis accelerometer) in Quadcopter
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239 views

3 Axis Gimbal Stabilization System can replace with 3 Axis Accelerometer

i have "TAROT ZYX-GS 3-Axis Gimbal Stabilization System ZYX13" sensor that gives me the value of Roll tilt and Pan.The 3 axis accelerometer give me the value of x y and z.so can we use the Gimbal ...
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Localising a robot placed at an unknown position in a known environment

I am a third-year electrical engineering student and am working on an intelligent autonomous robot in my summer vacations. The robot I am trying to make is supposed to be used in rescue operations. ...
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863 views

Generate synthetic accelerometer data based on (x,y,z) coordinate

I would like to create a simulation model (basically a signal generator) which will allow me to generate the 3 output signals of an accelerometer based on 3 location input signals (x,y and z). I would ...