Questions tagged [gyroscope]

A type of sensor which measures rate of rotation.

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How to perform time-offset calibration use GTSAM in Camera-IMU system?

Assume we have camera poses data and IMU data(which include gyr and acc data) with different timestamps, now I want to estimate this value, I known that this can be done in many ways(EKF,MSCKF), but I ...
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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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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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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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Implementing Dynamic Balancing on Robot Dog

I made a robot dog using Lewansoul LX-16a Smart Serial bus motors and a 3D printed body. I am using an Arduino Mega 2560 to control everything. I already have the inverse kinematics working. But for ...
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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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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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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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IMU gravity sensing

How are IMUs used to sense the direction of gravity? I have read a number of articles that talk about using IMU for orientation of flying robotics but I do not understand how. Could someone explain ...
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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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How to set initial heading

I'm confused how to set up an initial heading for my mobile robot project. I've determined heading from gyro integration and also using magnetometer readings. Gyro initializes at 0 and magnetometer ...
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What could cause quaternion error to go up drastically when a gyroscope is rotated on more than one axis at a time?

Alright, I'm working on a small Arduino script that determines orientation using a a gyroscope and a quaternion. My hardware: LSM9DS1 IMU (Gyroscope, Accelerometer, Magnetometer) Teensy 4.0 My basic ...
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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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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 to calibrate gyroscope using raw gyro data?

I wrote a simple code for where I take 500 samples with stationary gyro and subtract those offset values to get calibrated gyro data. Question: Is this much calibration enough to implement this gyro ...
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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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How to Correct for Gyroscopic Drift?

I know similar questions have been asked before, but I have researched for hours now and have not been able to find a viable solution. I have a Raspberry Pi 4 and the Adafruit LSM9DS1 IMU, which has ...
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Using gyroscope to calculate forward kinematics

I want to measure the end-effector position of the robot that I attached. I'm using both gy-25 and gy-521 for calculation of the angle. As shown in the picture, joint 1 has 2 DOF, one for spatial ...
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Yaw, Pitch, Roll rate concepts and how to calculate them with an IMU

I need help understanding the difference from Y/P/R rate and the data that I can get from a gyroscope. I am using the raw readings of my IMU (MPU9250) and the Madwick Filter to calculate a quaternion ...
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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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Gyroscope signal when mounted on a deflated tire

Before I do the experiment, I am a bit confused about the expected signals provided by a 3-axis gyroscope (angular velocities vs. time) mounted on the edge of a (slightly) deflated car tire when the ...
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How does one estimate motion from sparse encoders and IMU-Gyro data?

I have a robot which has (for simplicity) only one degree of freedom; it rotates about the z-axis (think like a crane), and has no slip. The shaft encoder delivers data in 0.1° increments, so when ...
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How to estimate yaw angle from magnetometer and gyroscope?

I'm using the MPU9250, it measures acceleration, magnetometer, gyro, etc. Complementary filter tutorial for this is here, however this tutorial does not have a magnetometer and I do, thus I thought I ...
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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 not this guy using a flightcontroller?

I know this will not be a good way of asking something but I cannot think a better way. In this video : https://youtu.be/wg8ZbiC9IBw He builds a fixed wing an makes it fly, my question is related ...
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Gyro yaw drift compensation

I'm looking for some kind of filter, algorithm which will allow me to compensate gyro yaw drift using heading of magnetometer. My project requires only yaw measurments and both sensors are flat. Is ...
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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 publish odometry from 3 wheeled omnidirectional robot?

I'm new to ROS and robotics and I'm trying to implement the ROS navigation stack in a 3 wheeled omnidirectional robot. I already made the map using RTABMap but now I'm stuck in the 'Publishing ...
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Combining gyroscope and compass to navigate in cities?

I am developing a navigation app which combines compass and gyroscope to withstand magnetic field disturbances which can be found in cities. I am able to know what the magnetic field is supposed to ...
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How to balance a long vertical bar

I have a mobile base (1400x1800x400 mm) which has a vertical bar (1) mounted on its geometric center; this vertical bar has a length of 2500 mm and a diameter of 100 mm and I need to keep it always in ...
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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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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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Head movement using gyroscope

I have a headset that provides 3 axis gyroscope readings. I wish to find out movement of head for e.g. if a person is nodding left to right etc. But the headset give me values in angular velocity for ...
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Convert local coordinates of a moving IMU to global coordinates

I am trying to compare the performance of an IMU in motion against an optical tracking system. The IMU has an accelerometer and a gyroscope and gives output in the local IMU coordinate frames. The ...
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4 answers
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Quadcopter motors vibration problem

I built an Arduino Due based quadcopter, with MPU-6050 for auto levelling and BMP-085 for Altitude. I am using Kalman filter code from here for the MPU-6050 to take the Roll and Pitch angels from the ...
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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 does structural/installation errors have to be modelled in a gyroscope IMU?

I have the model for a gyroscope from an IMU given by $$ \omega_{meas} = (I-S)\omega_{true} + \beta + v $$ $S$ is the scaling and misalignment of the sensor, which I understand is a parameter I get ...
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angular velocity output of IMU

I am reading the paper On-Manifold Preintegration for Real-Time Visual-Inertial Odometry. There is one paragraph about IMU model. I have two questions. The first one: An IMU commonly includes a 3-...
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2 answers
175 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_{...
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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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MPU6050 inconsistent Gyro data

I'm using an MPU6050 for a custom flight controller and I am facing an issue when reading the values from the IMU. The data shown below represents the angular velocity in the y-axis. When the angular ...
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Quadcopter stabilisation

I recently built a quadcopter and programmed a code to stabilise itself. The copter takes the hight from a distancesensors and the angle from a MPU 6050 gyro and accelerometer with a complementary ...
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How to Calculate gyroscope bias given an input vector of measurements w?

I am developing a GPS-Localizer using accelerometer and gyroscope sensor values. for more accuracy, i want to calculate sensor biases, so i already implemented the accelerometer calculation via matlab ...
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How is gyroscope bias exposed and tracked?

For an accelerometer, the measurement is defined in the following way: $$a_m = R_w^b(a_{w} - g) + b_a + v_a$$ Where $R$ is a rotation matrix, $g$ is gravity, $v_a$ is noise, and $b_a$ is the bias. ...
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9 votes
2 answers
759 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 perfect rate gyro data (noiseless)

Having a perfect gyro (with no noise/drift or bias), the gyro produces angular velocities in the form (wx, wy, wz) in rad/sec. I would like to convert the rate gyro readings (which are expressed in ...
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Gyroscope modeling parameters

Well im trying to model a gyroscope which is MPU-6050 and i am stuck in getting the missalignment and scale factor parameters from its datasheet ... And there is another problem that the names in ...
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