Questions tagged [gyroscope]
A type of sensor which measures rate of rotation.
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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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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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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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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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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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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 ...
CommunityBot
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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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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 ...
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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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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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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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MPU9255 gyro data to roll pitch?
So I have -32768 to +32768 coming out from MPU9255 (gx,gy,gz) which is converted to 0-250 dps(degrees per second) using 131 which is Gyro's sensitivity.
My question would be how do you use this data ...
CommunityBot
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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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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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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 ...
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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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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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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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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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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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Rate random walk from datasheet MPU6050 [closed]
i have been trying to extract rate random walk paramater from the data sheet but couldnt find any clue ...
is there any way to do that or what ? how should it be calculated ?
thanks !
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How to efficiently update a local Cartesian frame when traveling over long distances on a curved earth
I have a mobile robot which receives GPS position (lat/lon) and has an IMU for handling gaps in GPS service.
I want to be able to conduct short distance planning in a Cartesian plane, but the robot ...
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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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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 ...
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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 ...
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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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Using accelorometer and gyroscope to get velocity, spin & flightpath of a ball in projectile motion
I'm working on a project to make a SmartBall that can detect the velocity(km/h) , spin(degrees per second) and flightpath(trajectory) of the ball using Intel Edison with the 9DOF block (LSM9DS0 : 3-...
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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 ...
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Do I need gyro sensor to make sure my automower turn 180deg if I already used 9DOF IMU?
I am doing a project to build an autonomous lawn mower and I need to decide several type of sensor to complete the features. one of my features is the vehicles need to stop running when someone held ...
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Why does one IMU axis influence another?
For a home robotics project I just bought a BerryIMU to connect it to my Raspberry Pi. After hooking it up I ran the provided Python code to read out some values while moving it around.
If I keep the ...
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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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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 ...
CommunityBot
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Handling GYROSCOPE BIAS DRIFT
I am working on a MEMS based project which requires me to calculate the orientation(Euler Angles) of an object using only GYROSCOPES.
The GYROSCOPE BIAS is calculated in the beginning for 2 seconds ...
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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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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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Pitch angle is either +90° or -90°
Not exactly a robotics based question but mechanics is involved.
I have a wearable device that gives output in Quaternions which I can read serially via Labview. My task is to develop a threshold ...
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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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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. ...
CommunityBot
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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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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 ...
CommunityBot
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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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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 ...
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Quadcopter Flight Controller:Why does Using gyroscope data give better results?
I have succeeded in making my first quadcopter from scratch with a readymade frame. I designed the flight controller myself with help from YMFC-3D youtube series of videos. https://www.youtube.com/...
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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 ...
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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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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 ...
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