Questions tagged [gyroscope]

A type of sensor which measures rate of rotation.

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25
votes
3answers
3k views

What algorithm should I use for balancing a two wheeled robot using a gyroscope?

Is there a good, popular and reliable algorithm I can use by taking input from a gyroscope and using this to control two independant wheels to keep such a balanced robot reliably upright? I'm looking ...
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 The built-in gyroscopes are by now really outdated; the main problem is that the ...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

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 ...
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 ...
9
votes
2answers
611 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 ...
8
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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 ...
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 ...
7
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5answers
4k views

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 ...
6
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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 ...
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 ...
6
votes
1answer
11k views

How to determine the parameter of a Complementary Filter?

I know that the Complementary Filter has the functions of both LPF and HPF. But I think my understanding on the principal behind it is still unclear. I am quite new on digital signal processing, and ...
6
votes
1answer
907 views

What to do when the control input of the Kalman filter is unknown?

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. Say at time $t-dt$, the compass reports a reading $\...
5
votes
3answers
6k views

Use data from gyroscope to calculate orientation

From a gyroscope I'm getting angular velocities [dRoll, dPitch and dYaw] as rad/s, sampled at intervals dt = 10ms. How do I calculate the short term global orientation (drift ignored) of the ...
5
votes
3answers
1k views

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 ...
5
votes
1answer
681 views

How to choose the state space model for 1 axis gyroscope to implemnt a good kalman filter

I am using this gyroscope in order to measure the rotation of my robot around the z axis. I want to implement a kalman filter in order to improve the values. What i came with since now is this space ...
5
votes
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 ...
5
votes
1answer
522 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 ...
5
votes
2answers
434 views

Lego Mindstorms EV3 gyro sensor offset fix

I am currently working on a project for a Lego Mindstorms EV3 autopilot using Matlab/Simulink. Basically, I am using a closed loop control system with a PID controller for the control of the control ...
4
votes
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
votes
1answer
2k views

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 ...
4
votes
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 ...
4
votes
2answers
787 views

Structuring EKF to estimate pose and velocity with odometry inputs

I have a differential drive robot for which I'm building an EKF localization system. I would like to be able to estimate the state of the robot $\left[ x, y, \theta, v, \omega \right]$ where $x, y, \...
4
votes
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 ...
4
votes
2answers
142 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_{...
3
votes
1answer
69 views

Is there a commercially available inertial gyro with electronic control?

Searching for electronic gyros doesn't turn up what I am after. Rather than an instrument to measure rotation, what I want is a device that I can mount in a flying machine, where I can apply a certain ...
3
votes
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 ...
3
votes
2answers
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 ...
3
votes
1answer
55 views

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
3
votes
2answers
3k views

Gyroscope - How can I remove low frequency component with a high pass filter only?

I'm using Matlab to suppress low frequency components with a high pass filter. Objective Filter angular velocity measurements affected by high frequency noise and bias in order to get the best ...
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. ...
3
votes
2answers
1k views

Is there a way to measure 3 axis orientation without a magnetometer?

I have bought an STM iNEMO evaluation board in order to monitor the inclination of a separate magnetic sensor array as it moves in a linear scan outside of a (non-magnetic) stainless steel pipe. I ...
3
votes
1answer
331 views

Dead reckoning on a car-like robot with a gyro and only one encoder

Recently I began to build a car-like robot and I stumbled upon dead reckoning. I use one motor for steering and one for traction. I want to be able to get the position of the robot. From what I have ...
3
votes
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 ...
3
votes
1answer
531 views

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 ...
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. ...
2
votes
3answers
947 views

Compensating for Yaw in Lateral Quadcopter Movement

I'm trying to make a quadcopter move laterally at a certain angle. I've been able to find the proper roll and pitch angles for this (that work with a yaw of 0°); how would I adjust these values to ...
2
votes
2answers
1k views

How to interrupt on a data ready trigger when communications to the sensor are interrupt driven?

Background: I'm using the L3GD20H MEMS gyroscope with an Arduino through a library (Pololu L3G) that in turn relies on interrupt-driven I2C (Wire.h); I'd like to be able to handle each new reading ...
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 ...
2
votes
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 ...
2
votes
1answer
875 views

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-...
2
votes
3answers
394 views

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 ...
2
votes
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 ...
2
votes
2answers
78 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 ...
2
votes
1answer
820 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 ...
2
votes
2answers
1k views

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 ...
2
votes
3answers
4k views

Should I use gyro or encoders for robot moving in straight line?

I've recently succeeded in building my first collision-avoidance Arduino robot with 2 DC motors, and it works pretty well. However, it doesn't move in a straight line yet, when it should. I'm now ...
2
votes
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 ...
2
votes
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 (...
2
votes
1answer
86 views

How to gyroscopically measure number of rotations on one axis when there is concurrent random motion on another axis

Can a gyroscopic sensor (comparable to the type that are typically used in smartphones) that is embedded in this black object that is rotating around the X axis measure the number of rotations ...
2
votes
1answer
56 views

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 ...