Questions tagged [gyroscope]
A type of sensor which measures rate of rotation.
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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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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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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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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 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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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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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 ...
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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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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 ...
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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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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 ...
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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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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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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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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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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 ...
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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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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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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. ...
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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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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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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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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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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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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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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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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 ...
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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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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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Filtering angular velocity spikes of a cheap Gyroscope
I would like to filter angular velocity data from a "cheap" gyroscope (60$). These values are used as an input of a nonlinear controller in a quadcopter application. I am not interested in removing ...
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Ways to estimate the drift rate of the gyrometer
I found not so much literature to the topic, this is why I ask here.
Does someone know some ways to estimate the drift rate of the gyrometer.
I was thinking about basically two approaches.
One would ...
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Gyro measurement to absolute angles
Let us assume we have a gyro that is perfectly aligned to a global frame ($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 ...
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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 ...
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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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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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