Questions tagged [accelerometer]

Accelerometer is a sensor that measures acceleration.

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1answer
176 views

Should I use or not EKF for Baro-Acc altitude estimation?

I've recently implemented a kalman filter to estimate altitude for a small robot with an IMU+Baro sensor mounted on it. My objective is to get max precision I can have, using this two sensor, with ...
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1answer
6k 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 ...
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1answer
146 views

Rotate 3d vector value into a single axis using a rotation quaternion

I want to rotate the whole value of a 3d vector into one axis using quaternion rotations. The reason behind is that I want to align the X and Y Axis of my smartphone with the X and Y Axis of my ...
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2answers
181 views

Stabilising an inverted pendulum

With the problem of stabilising an inverted pendulum on a cart, it's clear that the cart needs to move toward the side the pendulum leans. But for a given angle $\theta$, how much should the cart move,...
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1answer
3k views

Instantaneous velocity calculation from accelerometer?

I am trying derive velocity from accelerometer (MPU9250 in sensor-tag board). I saw lot of blogs which talk about noise and exact estimation problems. I started seeing velocity derivation (integration ...
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1answer
6k views

Using Accelerometer, Gyroscope and any sensor to track speed, position,

Problem Currently working on reverse engineering this application zepp.com/baseball. This is a wearable device that can track a users speed positional tracking when the object makes contact with ...
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1answer
540 views

Measuring vehicle's forward and lateral acceleration using a smartphone [closed]

I want to measure the acceleration (forward and lateral separately) using an android smartphone device in order to be able to analyse the driving behavior. My approach would be as follows: 1. ...
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1answer
228 views

If I must fly my drone in bad weather, how can I maintain control of it in strong winds?

If I need to fly a drone in strong winds, how can I stabilize it? Should I use accelerometers and gyroscopes to keep it steady? Or should I just use some flight technique under such circumstances?
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5answers
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What does “6 degrees of freedom” mean?

I am looking at this page that describes various characteristics of gyroscopes and accelerometers. Close to the end (where they speak about IMUs), the names of the items have something like this: 9 ...
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2answers
281 views

Do walking robots use accelerometers?

My understanding of walking robots (e.g. https://www.youtube.com/watch?v=xJlkBBdyBYI) is that they use a gyroscope to determine the current orientation of the robot, or each joint of the robot. This ...
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1answer
792 views

The logic of implementing an Auto-level function in a PID flight controller

So I have multi-rotor with a basic PID controller, that keeps its axis stable through the gyroscope. However, the multi rotor, does not keep its height or position. So I would like to use an ...
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2answers
2k views

Localization with only IMU [duplicate]

What will be the best approach to get the most localization accuracy out of only an accelerometer and gyroscope?
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1answer
8k views

calculating position based on accelerometer data

Please help me with the following task. I have MPU 9150 from which I get acceleration/gyro and magnetometer data. What I'm currently interested in is to get the orientation and position of the robot. ...
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1answer
110 views

Quadrocopter problem with stability

I'm building quadcopter from scratch, software is implemented on STM32F4 microcontroller. Frequency of main control loop equals 400Hz. I've though everything is almost finished but when i've mounted ...
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1answer
2k views

connecting MPU-9250 GY-9250 SENSOR MODULE to arduino uno

i am using this sensor to make self balancing robot.At first i have soldered the header(only to vcc,gnd,scl,sda ) on the imu borad at the opposite side where there is no component mounted.then ...
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2answers
625 views

Axis of rotation via IMU

Using an IMU (gyro, accelerometer and magnetometer), as found in most smartphones, can I detect the differences between tilting the device, say forward, along different (parallel) axis positions? To ...
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2answers
111 views

Which sensor type most accurately measures position?

We're building an 6dof joystick, and we need to accurately measure the displacement of our central device. We can easily use a mechanical connection to the edges, but there has been some discussion ...
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2answers
521 views

Displacement with accelerometer [duplicate]

I want to use a sensor to find displacement with accelerometer. How can I use accelerometer to find displacement? I want to use this for a quadcopter.
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1answer
161 views

Problem with acceleration sensor

I’m using the BMA020 (from ELV) with my Arduino Mega2560 and trying to read acceleration values that doesn’t confuse me. First I connected the sensor in SPI-4 mode. Means CSB <-> PB0 (SS) SCK <...
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1answer
297 views

Can a Jacobian matrix be used to derive joint angles from end-effector linear and rotational velocity (without a filter)?

I have a 2-link, 2 degree of freedom robotic arm, that only measures linear acceleration at each link(through an accelerometer), and rotational velocity on each joint (through a gyroscope). I know ...
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4answers
547 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 ...
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2answers
14k 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 ...
4
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1answer
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 ...
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1answer
2k views

Calculating acceleration and velocity

I'm writing some Quad Copter software and beginning to implement an altitude hold mode. To enable me to do this I need to get an accurate reading for vertical velocity. I plan to use a Kalman filter ...
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1answer
183 views

How can I filter Gyroscopic data?

I am using an Arduino Mega with an MPU6050. I can get gyroscopic data as well as euler angles. The problem is my gyro data keeps going back and forth between 0 and -1 despite me not moving it at all (...
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1answer
2k views

How do I get MPU 6050 gyroscope data using “MPU6050_6Axis_MotionApps20.h” library

I'm currently calibrating the MPU6050 chip using an arduino mega 2560. I am using the J Rowberg 12c dev libraries. I can get it to print raw accelerometer and gyroscpe values (very unstable, wildly ...
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4answers
4k views

How to combine an accelerometer and a gyroscope to find robot location and orientation in 2D/3D space [duplicate]

I have data from an accelerometer that measures X,Y,Z acceleration and data from a gyroscope that measure pitch, roll and yaw. How would I combine this data to find robot location and orientation in ...
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3answers
37k views

How to estimate yaw angle from tri-axis accelerometer and gyroscope

I would like to estimate the yaw angle from accelerometer and gyroscope data. For roll and pitch estimate I've used the following trigonometric equations: ...
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1answer
264 views

Is increasing gyro , accelerometer sensor range is good or bad ? how does it affect the accuracy

I've been using mpu6050 IMU unit ( gyro + accelerometer ) I found that I can set acc range to +/- 2g or 4g till 16 g and same for gyro +/- 250 deg/sec , 500 deg/sec and so I know that they are ...
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2answers
2k views

How to filter vibration programatically?

I'm working on a quadcopter. I'm reading the accelerometer and gyro data out from the MPU6050 and using complementary filter to calculate the roll and pitch values. When the quad is on the floor, and ...
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2answers
97 views

Velocity Control via Vibration

I am working on a robot that has an accelerometer. This accelerometer measures the vibration of the robot. When the robot hits a certain vibration, I would like it to slow down in order to reduce the ...
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2answers
373 views

NXT Segway problem. Need advice/help

I'm attempting to build a segway robot using a gyrosensor and accelerometer. I'm having trouble getting the robot to remain standing, for some reason, and I can't identify the problem. Here's what I ...
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2answers
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 ...
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0answers
77 views

Best Way to Sense Rubiks Cube Movements [closed]

I was wondering what was, in your opinion, the best way to study the different motions of a Rubiks Cube. I want to be able to recognize what face moved and in what direction. Would I be able to get ...
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1answer
984 views

Tracking 2D positioning with IMU Sensor [duplicate]

I am using a miniature car and I want to estimate the position. We can not use GPS modules and most of the tracking systems that I saw, are using IMU senson with the GPS module. In our car we are able ...
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2answers
2k views

How much accuracy could I get position tracking with a 3-axis accelerometer and gyro sensor, and compass, and how would I do it?

Given a 12' x 12' field (4m x 4m), a reasonably cheap 3-axis gyro sensor and accelerometer, and compass, I plan to design a device capable of tracking its position to sub-centimeter accuracy for a ...
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3answers
14k views

Quadcopter Position Measurement (Accelerometer, GPS or Both)?

I previously thought that an accelerometer on a quadcopter is used to find the position by integrating the data got from it. After I read a lot and watched this Youtube video (specifically at time 23:...
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3answers
342 views

Making a tiny robot by using a remote brain

I'd like to build a robot as small as possible and with as few "delicate" parts as possible (the bots will be bashing into each other). I was wondering if it was possible to use a small chip that ...
1
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1answer
876 views

APM Accelerometer Calibration

I am trying to manually calibrate the on-board accelerometer of an APM 2.6 controller. I am using the following code (I found this somewhere, don't remember where) with Arduino 1.0.5 (in Windows ...
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2answers
276 views

Accelerometers error (BMA020 and BMA180)

Recently I am working with two accelerometers: BMA020 and BMA180. I will try to explain my problem using BMA020 as example because it is less accurate therefore problem is more visible. When I hold my ...
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4answers
2k views

Why do 3-axis accelerometers seemingly have a left-handed coordinate system?

Careful inspection of page 35 (figure 58) of the ADXL345 datasheet shows that under gravitational loading only, the chip uses a left-handed coordinate system. My own experiments with this chip ...
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2answers
4k views

Tracking with accelerometer and gyro versus multiple accelerometers

I'm building quadcopter and most of the control systems use one accelerometer and gyro. I've read few papers and usually accelerometer is used as reference to the ground because gyro slowly drifts ...
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2answers
2k views

Accelerometer calibration - how to get cross-axis sensitivities

I've already asked a related question (accelerometer bias removal) here on robotics and got a bit better results on corrected accelerometer output. To get even better results I found the calibration ...
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2answers
3k views

Accelerometer bias removal

I found a good explanation on how to remove accelerometer bias (when on flat table only one axis should show values, the other two should be 0). I've calculated S and B factors (page 3): Record $...
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1answer
7k 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 ...
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3answers
107 views

Wearable Accelerometor

I've worked with wiimote accelerometer, but I think now I want to move past that. Mostly because I want to have a wider range of available gestures and I think that using only one accelerometer has ...
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2answers
1k views

Do I really need a gyro for an airplane flight stabilization system?

I'm working on a basic airplane flight stabilization system, as the precursor to a full autopilot system. I'm using a salvaged Wii Motion Plus and Nunchuk to create a 6DOF IMU. The first goal is to ...
7
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1answer
2k views

MEMS accelerometer calibration

I am trying to calibrate a MEMS accelerometer. I was able to calibrate it for the current axis which is parallel to gravity and shows correctly, 1g. But the other two axes which should be 0.00g are ...
3
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1answer
3k views

MMA7361 Accelerometer Always Displays Same Values

I recently purchased a 3-axis accelerometer from Amazon, and can't seem to find how it works. I've been looking for quite a while now, and haven't found any real clues. The x, y, and z values always ...
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3answers
1k views

Is an accelerometer sufficient to detect displacement, or do I need an INS?

Do I need a complex system (of gyros, accelerometers etc.) to detect if a robot has moved forward or can I simply use an accelerometer. I'm building a robot that learns to walk and I need to detect ...