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Questions tagged [imu]

Inertial Measurement Unit

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1answer
45 views

what is the algorithm to get position (Linear displacement and linear velocity ) using IMU (Like MPU6050)?

So I have been working on a drone project for a very long time, now I decided to work on Kalman filter which is used widely nowadays like Ardupilot. I looked at the source code so basically understand ...
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1answer
16 views

Which algorithms to locate a static 3D object relative to a moving camera/IMU?

I am using typical setup with camera and IMU as found on a smartphone. Using this, I would like to estimate the relative pose between the camera and an object (for simplicity, let's say a cube). The ...
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1answer
44 views

IMU and Camera Synchronization

I would like to synchronize my IMU and Camera sensors for my real-time visual-inertial SLAM algorithm in ROS. I am streaming video at 30 Hz from an android phone through IP address. IMU, however, has ...
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16 views

does anyone are familiar with ardrone's IMU?

I would like to present a visual-inertial navigation system based on ardrone2.0, so I need to calibrate jointly the forward-looking camera and the inertial measurement units. unfortunately, I don't ...
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1answer
35 views

Discontinuities in IMU data in pitch only

I am having a problem with pitch measurements with Bosch BNO055 IMU. The device is rotated on a relatively stable rotating spindle and does a revolution on a circle around 10cm radius. It is upright ...
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1answer
69 views

Position Tracking using IMU

I am working on a robot tracking application, where our main tool (a camera) for locating the x & y position of the robot is working on a quite low frequency. Therefore, I am looking for ways to ...
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1answer
21 views

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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36 views

Subtract Gravity from IMU

I know there are a lot of questions regarding this topic but I need clarification to help find my error. I want to track the position of a human hand with an IMU. I know the approach is bad because ...
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1answer
64 views

How to do IMU and camera “sensor fusion” tracking?

I have some 50ms latency cameras at hand and a 800Hz IMU (gyro+accelerometer+magnetometer). I would like to know how exactly how I should do a sensor fusion of such an IMU and camera to fix the ...
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2answers
62 views

How reliable are IMUs for a long usage (6 hours) rotation (only) tracking?

I know they are bad for positional tracking and drift from actual position over time but would like to know what is the situation with rotation only. I know Oculus DK1 used ordinary off-the-shelf ...
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1answer
99 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-...
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1answer
37 views

measurement model of the accelerometers in IMU

I am new to IMU. About the measurements from IMU, different materials give different explanations. From the link: https://www.it.uu.se/edu/course/homepage/systemid/vt14/tokp2.pdf Here the b maybe ...
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2answers
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Practicality of using magnetometer inside AUV

I have an AUV with a 12 inch diameter, 29 inch long capsule. Inside the capsule sits an Intel NUC computer, an NVIDIA Jetson GPU, an Arduino Mega, a Sparton IMU (9 DOF) as well as a custom voltage ...
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20 views

IMU based video data manipulation

I am using a Freescale iMX6 (Boundary Devices) with GStreamer imx-plugins to stream video from the iMX6 to a PC. The iMX6 runs a Debian 9.3 with kernel 4.9.x and the PC runs Ubuntu 18.04. Currently I ...
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20 views

API/ Library for re-orienting 360 degree camera frame efficiently

I have a camera that produces a 360 degree image output. This camera has an IMU unit integrated with it. I have written a C++ Extended Kalman Filter algorithm to estimate roll, pitch and yaw of the ...
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132 views

GPS + IMU fusion frame without magnetometer

I am trying to implement the Kalman filter for GPS + IMU fusion. I have the position and velocity (at a low rate) from the GPS module. I further have the accelerometer and gyroscope output in the IMU ...
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1answer
223 views

EKF implementation on odometry/IMU

I am applying Extended Kalman Filter for a mobile robot with IMU and odometry data. I am running simulation currently. However, I don't have suitable data for odo/IMU measurements to use. Where can I ...
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39 views

Reliable IMUs for ROS

I'm having problems in finding reliable IMU's in ROS. So far, I have tried the UM7 and the myAHRS+ with no luck. The first one, keeps resetting its magnetic reference and the second one works well but ...
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1answer
56 views

IMU oriented wrongly. How to correct it to get correct values?

We have used an SMC-108 IMU sensor in a hydrographic survey. This was our first time using this sensor. While processing the data, we noticed that the roll, pitch, and heave values were not right. ...
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63 views

IMU GPS integration (full state implementation)

Hi all, I'm trying to implement 'total state IMU/GPS Kalman filer' The state will be not the error state, but the total state: [attitude, velocity, position, accel bias, gyro bias]. Can anyone help ...
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1answer
34 views

Find IMU based on previous works [closed]

I'm building a quadrotor robot and my supervisor has asked me to make a report of the IMU modules used in previous works, I couldn't find such reports however. Does anyone know how to find such ...
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17 views

GNSS-aided IMU calibration

I have a physical system that consists of a GNSS receiver and an inertial measurement unit (IMU) with accelerometer and gyroscope. I would like to determine to some level of precision the angular and ...
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1answer
201 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 ...
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1answer
93 views

GPS/ 1GYRO - 2D + ACCEL+GPSEKF

I am trying to integrate GPS and IMU but as a first step I am trying to use just 1d gyro and 2d accelerometer to work. Below is my model - State model and propagation So, my question is .. after ...
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76 views

Accurate heading estimation using MEMS gyro

I am trying to implement a accurate heading solution using MEMS gyro alone. My requirement is such that the heading is to be estimated with the MEMS sensor placed inside a metal casing. I cannot use ...
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1answer
204 views

How to compute the observation matrix for a Kalman Filter?

If my state vector is just a representation of the error state of a quaternion represented as $[\delta \bf{q} ]$ which is a 3x1 vector and my external update is from an accelerometer, how would I ...
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1answer
74 views

Self balancing roboter IMU issue

I build a self-balancing robot, at least that what i should have been. now i have tried implementing a complementary filter which combines gyro and accelerometer data, but the problem is that the ...
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1answer
329 views

Yaw from accelerometer? No! So what do these equations actually mean?

note: I'm just a day or so into the use of inertial measurements and trying to learn everything at once, this may be a noob question (it's my first here). I have seen this image of "Figure 8" in ...
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1answer
261 views

I fused a GPS and IMU and I am wondering if my results make sense

I am trying to fuse a ublox M8 (https://www.u-blox.com/sites/default/files/products/documents/u-blox8-M8_ReceiverDescrProtSpec_(UBX-13003221)_Public.pdf) with a MicroStrain IMU (http://www.microstrain....
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1answer
118 views

Inferring joint orientation on multi-joint arm

Not a robotics question in the strictest sense, I guess, but related closely enough, I hope: I have an arm-like articulated two(-plus-one)-joint appliance that I want to use as a 3D input device. It ...
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1answer
183 views

IMU measurement model

I read in this set of slides on p.11 that the IMU measurements, such as acceleration are affected by bias and noise, as expressed in this equation: $_B \mathbf {\tilde a} _{WB}(t) =\ \mathbf R_{BW}(...
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1answer
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Can someone explain what is going on in this calibration video?

I am trying to understand this IMU calibration video. https://www.youtube.com/watch?v=xF7sLU0fX7k&feature=em-comments In the video the operator gets accelerometer data when pointing each axis in ...
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I have a bno055 with yaw pitch and roll, need to calculate the value of 2 servos to achieve the position in Arduino

I know this issue is somehow related with forward kinematics or Inverse kinematics but both the formula and the implementation are still obscure to me, do you know of a library or function to achieve ...
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2answers
216 views

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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1answer
66 views

Do i really need an AHRS for 2D maps?

I am currently making a 2 wheeled SLAM robot that will use an array of either ultrasonic or sharp IR sensors with a particle filter. I also have a MPU-6050 and GY-271 and i am looking to turn it into ...
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1answer
1k views

Kalman filter GPS + IMU fusion get accurate velocity with low cost sensors

I'm new to all this robotics stuff. Especially to Kalman filter. My initial goal is to have velocity as accurate as possible Here is my case: I have a phone which is mounted, for example in the ...
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2answers
464 views

Correctly calculating free acceleration given NED referenced orientation quaternion and sensor referenced acceleration data

I have a sensor outputting correct, calibrated North-East-Down referenced quaternions describing the orientation of the sensor. It also outputs raw, sensor referenced acceleration data, inclusive of ...
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277 views

Loosely coupled GNSS IMU integration

I am trying to integrate a GPS and IMU via a loosely coupled integration. My state is the position and velocity vector. I am using the following equations for the nav frame mechanization. I am ...
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1answer
359 views

IMU alignment methods

I have an IMU that is outputting the following for its measurements: ...
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1answer
151 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 ...
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1answer
196 views

Why the IMU measurements only accumulate drift in 4DOF

I'm studying the Technical Report of VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator available at: https://github.com/HKUST-Aerial-Robotics/VINS-Mono/blob/master/...
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1answer
2k views

Ardupilot on Raspberry Pi

I'm making a quadcopter for the first time and want to be as low cost as possible, and when it comes to flight controllers APM is the best open-source project, and is compatible with Raspberry Pi. My ...
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1answer
244 views

Stabilising a quadcopter using YPR

I'm using the MPU-6050 accelerometer + gyro with the library I2Cdev which outputs: quaternion, euler angles and YPR angles. The equations used for calculating the YPR are: ...
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2answers
722 views

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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3answers
743 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 ...
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1answer
148 views

What does ardupilot do and how does it do it?

I have been using ardupilot on drones for a while and I don't exactly know what it does. I know it keeps a drone leveled, lets us set way points and automatically fly through them, etc. Is that it? If ...
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0answers
155 views

Is it my PID that is unstable or my physical system? (Quadcopter)

I've been working on this Arduino-MPU6050 quadcopter for a while now, and it looks like it's close to being finished. I have programmed it in rate mode, so the PID's control the rotational velocity. ...
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1answer
196 views

MPU6050: Changing Gyro Output Range Throws off Positional Reading

I am using the MPU6050 in conjunction with an Arduino and Jeff Rowberg's i2cdev library, and my project requires that the gyro rate outputs be more precise than the default setting, which is 1/16.4 of ...
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0answers
19 views

Getting velocity from IMU acceleration [duplicate]

I am doing to research about why you cannot use IMU acceleration the integrate to get velocity. Everyone says you cannot do that due to there being error but what error is this exactly and where does ...
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1answer
44 views

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 ...