Questions tagged [imu]

Inertial Measurement Unit

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29 views

RGBD velocity estimation + IMU fusion [closed]

What is the best way to estimate velocity from camera in order to do IMU fusion? The simplest is just to take a difference in positions but is there a better way?
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28 views

How to use Quaternion from IMU to get the transformation to inertial reference frame?

Im trying to get the Linear Velocity integrating the acceleration from IMu. I know there will be accumulated error due to integration bit before the integration I have to do couple of other steps. ...
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28 views

What would be a way to estimate IMU noise covariance matrix?

Weirdly enough, my robot platform which has an official ROS package supported by a manufacturer doesn't provide any covariance matrices of its sensors. So, I'm basically trying to estimate these ...
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1answer
49 views

C++ (ROS node) for Euler Integration to estimate Velocity knowing the acceleration

Hi I have IMU reading and would like to estimate the linear Velocity knowing the linear acceleration from the IMU using the Euler method. Im aware of the accumulated error. So need a C++(python) code ...
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1answer
22 views

Sensor fusion in a metal heavy environment

I am trying to get heading information of a forklift. I've designed a small PCB for this purpose. This PCB has a 3 axis magnetometer and a 6 axis gyroscope-accelerometer (Z- axis looking towards the ...
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15 views

Linear Velocity from robot_localization Package after IMU integration and and only one sensor (IMU) as sensor input

Im using the robot_localization robot_localizationto get the linear Velocity of underwater simulated ROV with Gazebo. In order to get the correct orientation of the linear (twist) component of the ...
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7 views

How to set up parameter in hector_localization stack to fuse IMU and Barometer (Pressure sensor)?

Im checking the hector_localization hector_localization stack, that provide the full 6DOF pose of a robot or platform. It uses various sensor sources, which are fused using an Extended Kalman filter. ...
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36 views

TF is broken when using robot_localization package with only IMU sensor, how to assure that the measured velocity is the one from the robot?

Im using thisrobot_lokalization robot_localization package for the linear velocity. As only sensor input in my case is IMU. I configure the parameters and set the frames as follow ...
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19 views

How to minimize the error integrating 3D angular velocity data obtained by the IMU to get linear velocity?

I have IMU sensor that gives me the raw data such as orientation, Angular and Linear acceleration. Im using ROS and doing some Gazebo UUV simulation. Furthermore, I want to get linear velocity from ...
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1answer
31 views

How to do transformation to get correct linear velocity from linear acceleration IMU data?

I have IMU sensor that gives me the raw data such as orientation, Angular and Linear acceleration. Im using ROS and doing some Gazebo UUV simulation. Furthermore, I want to get linear velocity from ...
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Digital compass precision in urban environment

I'm working on an application to compute the absolute heading (yaw) using the following hardware: WIT-Motion HWT905 IMU https://www.wit-motion.com/digital-inclinometer/witmotion-hwt905-ttl.html. It ...
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How do you convert the covariance matrix of a 3D rotation error-state to the covariance matrix of the corresponding quaternion?

I'd like to convert the covariance matrix of an error-state Kalman Filter that uses Euler angles to the corresponding covariance matrix of a quaternion state. I basically use this for standard INS-...
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1answer
36 views

Obtaining Heading vector from IMU

First time here. I'm an electronics engineer who has been tasked with this problem: Given the 4D quaternion representing a vehicle orientation, how do you get the heading vector? The vehicle ...
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23 views

Do you need to know the orientation between aircraft and IMU for IMU alignment?

I have a fixed wing aircraft and a MEMS IMU, but I am uncertain of the exact orientation between the IMU and aircraft. In the manual for the IMU, it recommends undergoing an alignment procedure prior ...
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1answer
47 views

Bug in code of Self-Balancing Bot

I am making a Self balancing bot as my project in which I am using MPU6050, Arduino Uno, motor driver l298n and DC motors. I am making this using data from accelerometer and gyroscope and combining ...
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2answers
94 views

GPS+IMU sensor fusion not based on Kalman Filters

Do you know any papers on or implementations of GPS + IMU sensor fusion for localization that are not based on an EKF (Extended Kalman Filter) or UKF (Unscented Kalman Filter)? I'm asking is because ...
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57 views

How to avoid gimbal with Quaternions

I'am working with an LSM6DSO32, so I'am starting with Kalman filter, everything works but with Euler angle I got gimbal lock I think... But if my pitch angle approach to 90° my roll angle jump and I ...
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Beginner needs help with Self-Balancing-Robot build

I'm looking for help on a 1st build self balancing robot, something that seemed pretty easy but not. I'm retired so have plenty of time but no real robot skills, electrical, mechanical yes. I have ...
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1answer
59 views

IMU gravity sensing

How are IMUs used to sense the direction of gravity? I have read a number of articles that talk about using IMU for orientation of flying robotics but I do not understand how. Could someone explain ...
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19 views

How do you derive the soft iron matrix for magnetometer calibration?

Can someone send reliable sources for how this is derived? I understand the diagonal values are for scale, but how do you determine all 6 values needed for this matrix? I would also like to normalize ...
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1answer
113 views

How to actually fuse sensor using Extended Kalman Filter

Background I'm working on 4-omniwheel mobile robot. It have encoder on each wheel and MPU 6050 IMU. The robot positioning suffer a great error because slip, so i try to increase the accuracy of ...
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26 views

How to compute linear speed on scooter without gps and wheel odometry

My project is to be able to compute my linear speed on my scooter only with my IMU. I have a IMU build with my arduino which is in my backpack. I want first to compensate the acceleration measurement ...
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1answer
50 views

Drone lost traj recovery

So I am using slam algorithm to localize the drone which is gps denied . The input to the slam algo is imu data and a video . Now after the first run of the slam algorithm it creates the trajectory ...
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1answer
81 views

How to calculate the ground truth of your own simple dataset for testing your SLAM Algorithm?

I have tested my SLAM algorithm on EuRoC, TUM and KITTI Datasets. But I would like to test on my own custom dataset. Moreover, I already rectify how to make my own dataset in TUM dataset format, but I ...
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1answer
62 views

Localization and Mapping in a Small Crop Field

I have a small crop field inside my house and I want to create a map of it. The goal is to create a map so that I can monitor the growth of the plants and do some post processing to analyze the ...
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34 views

How is IMU noise dealt with between steps?

Direct integration of IMU will result in massive error incredibly quickly. What I am wondering is, how do you use an IMU over a small time intervals to aid in pose estimation? In particular, suppose ...
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32 views

How to set initial heading

I'm confused how to set up an initial heading for my mobile robot project. I've determined heading from gyro integration and also using magnetometer readings. Gyro initializes at 0 and magnetometer ...
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1answer
57 views

Does it matter how I mount an IMU board?

I am going through the board's calibration process and it is declaring success. Do I still need to pay attention to how I mount the board, that is, match the x,y,z directions printed on the board?
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17 views

When Implementing Madgwick filter for attitude estimation, the calculated Euler angles are drifting significantly. What could be the reason?

The Beta value is set according to the original report, which specifies for IMU B-0.033. and the sensor data acquisition and filter update is periodic at 200Hz. The angular velocity values from the ...
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1answer
204 views

IMU Change of reference frame

Im trying to rotate one accelerometer vector from body frame to ned frame, but i cant found what im doing wrong. For now, im using an online dataset that provides me roll, pitch and heading ...
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1answer
106 views

Particle Filter for IMU tilt angle and bias estimation from Kalman Filter models

I understand the functioning of Particle Filters from the book Probabilistic Robotics and the robotics course provided by Cyrill Stachniss. I want to implement, from scratch, a particle filter to ...
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434 views

IMU + GPS fusion and change of reference frame

I started working with GPS + IMU fusion using Kalman Filter. For this, I'm using Python, with Madgwick filter from a library (https://github.com/morgil/madgwick_py) and Kalman filter also from an ...
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1answer
43 views

IMU-Camera Senor Fusion

I am working on fusing IMU and Camera Sensor Fusion for the Drone to precisely land on the target location. With the Camera, I am tracking the April Tag which is on the ground. This gives me the x,y,z ...
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1answer
41 views

Mono VIO vs. Stereo-Camera to recover Depth Information

I have a question. I have found some papers, where they use a Mono-VIO to recover depth of a scene. My question is: Suppose I have a robot arm and attach a mono-VIO system to it. Then I move this arm ...
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2answers
105 views

To calculate roll,pitch and yaw

How do I calculate roll,pitch and yaw value from the position co ordinates of the drone, that is x,y and z from the gps sensor??? Using the x,y and z co ordinates I have to calculate roll,pitch and ...
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1answer
75 views

Do IMU have value in SLAM?

IMU are often used in theoretical models involving SLAM. I'm a bit confused on their practical value since error accumulation is so bad that after a couple seconds you need to completely ignore it. ...
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1answer
137 views

GNSS Dead Reckoning -- Sensor Fusion Filter not necessary?

My question might be a bit off-topic but I don't know where else to ask. When I do have a GNSS Module with integrated IMU and <...
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0answers
19 views

What could cause quaternion error to go up drastically when a gyroscope is rotated on more than one axis at a time?

Alright, I'm working on a small Arduino script that determines orientation using a a gyroscope and a quaternion. My hardware: LSM9DS1 IMU (Gyroscope, Accelerometer, Magnetometer) Teensy 4.0 My basic ...
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2answers
232 views

Sensor fusion of GNSS and IMU using UKF

I do have a land-based robot with an IMU and a GNSS receiver. From the IMU, I get the velocity and acceleration in both $x$ and $y$ directions. From the GNSS receiver, I get the latitude and ...
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2answers
46 views

"catkin_make" prompts "+make" and "recipe for target ... failed" errors

I have been working on a ground vehicle project for some time that has bunch of sensors, until now I have managed to overcome the problems I have encountered. I have used catkin_make many times and ...
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0answers
32 views

Barometer altitude calculation

I want to calculate altitude using a barometer which is mounted in the proximity of a number of components which get quite hot and raise the localised temperature. The barometric pressure equation is ...
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43 views

IMU Vision Fusion using EKF

I am trying to track an object indoors using an IMU (only accel and gyroscope) and a visual marker. This is similar to IMU+GPS fusion, where GPS is effectively replaced by the position that my vision ...
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2answers
126 views

Detection of linear acceleration vs rotational velocity/acceleration

I am wondering, how do you differentiate between linear acceleration and rotational velocity and acceleration for IMU? A rotational velocity or acceleration will still appear to the accelerometer as a ...
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37 views

Find IMU's movement direction in x-axis

I have an IMU device with an accelerometer sensor and I fix that on top of the linear motion rail.so it can only move to the right or left (in the x-axis) side. How can I determine the direction (...
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1answer
146 views

Custom implementation of robot_localization package

I plan to implement a sensor fusion of IMU + Visual odometry using an EKF. I came across the excellent robot_localization package which does pretty much all that I want. However, I need to use perform ...
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1answer
104 views

Estimation of pitch, roll, yaw angles: synthesis of an observer or IMU?

Dear Robotics Specialists, I want to contact you for advice. I am developing a control system for complex parallel mechanisms like what I presented in this thread. Formulas for calculating the ...
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1answer
82 views

Measurements of IMU (accelerometer and gyroscope) are drifted or with too much error

I placed my drone on a table (i.e, at rest) and save (using a ROS topic) the IMU readings: As you can see, there's a lot of drift or error. I would expect the $x$ and $y$ acceleration to be 0 (I know ...
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2answers
121 views

Is it possible to track position using gyroscope and accelerometer without a magnetometer?

I'm looking for help on a project where I will be placing sensor data in 3D space using augmented reality. Most solutions I have found for finding position with an IMU involve the magnetometer, but ...
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2answers
82 views

I2C Arduino Connection

I am working on a wheel mobile robot with multiple sensors which are IMU, two encoders, four ultrasonic sensors, and using two Arduino: Uno and Mega. The IMU, encoders, and ultrasonic sensors are ...
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1answer
480 views

Extended Kalman filtering for IMU and Encoder

I am trying to fuse IMU and encoder using extended Kalman sensor fusion technique. how do I fuse IMU pitch, roll with the orientation data I obtained from the encoder. Also, how do I use my position x ...

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