Questions tagged [gyroscope]

A type of sensor which measures rate of rotation.

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8
votes
1answer
5k views

Angle Random Walk vs. Rate Noise Density (MPU6050)

I’ve made a datalog from a MPU6050 (IMU: gyroscope and accelerometer) at 500Hz sample rate. Now I want to calculate the characteristics from the gyro to evaluate the sensor. For the gyro I’ve found ...
16
votes
2answers
7k views

How to choose a good IMU for a wheeled robot?

At our lab, we have a several "Kurt" type robots (about the size of a Pioneer, six wheels, differential drive). The built-in gyroscopes are by now really outdated; the main problem is that the ...
9
votes
2answers
1k views

How to model unpredictable noise in Kalman Filter?

Background: I am implementing a simple Kalman Filter that estimates the heading direction of a robot. The robot is equipped with a compass and a gyroscope. My Understanding: I am thinking about ...
7
votes
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 ...
3
votes
1answer
438 views

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. ...
2
votes
3answers
395 views

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. ...
0
votes
1answer
397 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 ...
6
votes
3answers
748 views

Filtering angular velocity spikes of a cheap Gyroscope

I would like to filter angular velocity data from a "cheap" gyroscope (60$). These values are used as an input of a nonlinear controller in a quadcopter application. I am not interested in removing ...
5
votes
1answer
521 views

Gyro measurement to absolute angles

Let us assume we have a gyro that is perfectly aligned to a global frame ($X,Y,Z$). From what I know the gyro data give me the angular rate with respect to the gyro axis ($x,y,z$). So let's say I ...
2
votes
1answer
262 views

Angular velocities and rotation matrices

Let us assume I have an object O with axis $x_{O}$, $y_{O}$, $z_{O}$, with different orientation from the global frame S with $x_{S}$, $y_{S}$, $z_{S}$ (I don't care about the position). Now I know ...
0
votes
1answer
179 views

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 ...
0
votes
1answer
63 views

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 ...