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Questions tagged [imu]

Inertial Measurement Unit

106 questions with no upvoted or accepted answers
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5 votes
2 answers
381 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 ...
Sty's user avatar
  • 191
3 votes
0 answers
32 views

How to calibrate IMU for large scale deployments possibly using deep neural network

We were testing our visual SLAM algorithm on robots. We were getting poor performance. Then we calculated wite noise and random walk parameters (using kalibr) for the IMU and used it in our algorithm ...
Mahesha999's user avatar
3 votes
0 answers
533 views

How to fuse IMU with encoders in EKF

Background I have a car-like mobile robot (4 wheels, where the forward ones are steering wheels) and I want to estimate its pose and velocity assuming 2D planar motion. I'm trying to solve this ...
Andrea Eusebi's user avatar
3 votes
1 answer
375 views

How is the GPS fused with IMU in a kalman filter?

I've been trying to understand how a Kalman filter used in navigation without much success, my questions are: The gps outputs latitude, longitude and velocity. While the IMU outputs acceleration and ...
Diamondx's user avatar
  • 131
2 votes
1 answer
399 views

Frequency Limitation in robot_localization's EKF Node

I'm using version 2.7.4 of the robot_localization package for ROS Noetic. I'm currently utilizing two nodes of the package: EKF Local Node: Fuses data from an IMU (100Hz) and wheel encoders (4Hz). ...
user2454945's user avatar
2 votes
0 answers
55 views

transform IMU reference to robot reference

I have an IMU rigidly attached to the end effector of a robotic arm. The goal is to compare the orientation of the IMU to the orientation of the robot arm. The 9-axis IMU data is used in a sensor ...
user30675's user avatar
2 votes
1 answer
324 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 ...
Shrinivas Iyengar's user avatar
2 votes
0 answers
617 views

How to estimate yaw angle from magnetometer and gyroscope?

I'm using the MPU9250, it measures acceleration, magnetometer, gyro, etc. Complementary filter tutorial for this is here, however this tutorial does not have a magnetometer and I do, thus I thought I ...
Jordan Savage's user avatar
2 votes
0 answers
223 views

How to handle sensor data for a sensor-fusion algorithm

I am implementing the explicit complementary filter(see below) with a 9DOF MEMS sensors (accelerometer, magnetometer and gyroscope) for attitude estimation. Currently, the gyro and accel update rates ...
Nemo's user avatar
  • 21
2 votes
0 answers
573 views

How to properly calibrate a magnetometer in IMU for precise yaw?

EDIT: Moved to ElectricalEngineering StackExchange Community I'm using Sparkfun Razor IMU 9DOF sensor which incorporates accelerometer, gyroscope, and magnetometer, for giving the Euler's angles (yaw,...
yode's user avatar
  • 21
1 vote
1 answer
20 views

Obtaining UAV flight trajectory from accelerometer and gyro data

I have an accelerometer and gyro scope data logged from several drone flights. I want to obtain flight trajectories from this data. I am considerably new to robotics. But from what I read, I ...
RajS's user avatar
  • 121
1 vote
0 answers
30 views

Observability of Gravity in SLAM

A number of SLAM systems only optimize over 4 variables(location and yaw) as they argue gravity is observable which constrains roll and pitch. I don't understand this argument since in theory you ...
FourierFlux's user avatar
1 vote
1 answer
103 views

High frequency robot-localization output when fusing GNSS + IMU

I'm in the process of tuning a robot-localization package parameters in my sensor-fusion ROS2 package. I have a dataset from various sensors mounted on a vehicle (IMU, GNSS, Lidar, Rgb Cameras, Radar, ...
Stanislav Svědiroh's user avatar
1 vote
0 answers
413 views

How does IMU pre-integration work and how is it different from EKF?

My understanding is that IMU pre-integration is to get away from having to re-integrate the the IMU between key-frame intervals when doing bundle adjustment. The formulations I ave seen involve a ...
FourierFlux's user avatar
1 vote
0 answers
53 views

Compensate tractor's (vehicle's) tilts in the GNSS-IMU based system

I have the following setup: a tractor with a dual band antenna (from ublox) installed on the vehicle's symmetry axis on the roof (h=3m), approx. 1m ahead of the center of the rear axis (which I ...
pion3k's user avatar
  • 11
1 vote
0 answers
682 views

robot_localization not fusing imu data

According to the documentation in : http://docs.ros.org/en/noetic/api/robot_localization/html/state_estimation_nodes.html I was able to transform the imu data header fram from "imu_link" ...
sdu568's user avatar
  • 11
1 vote
1 answer
476 views

How do you rotate positions from ENU-frame to body frame?

If positions are in the local frame of ENU (or ECEF - either works), how do you rotate that to the body frame of the device? Logically, I thought that I could use the pitch, roll, and yaw angles of ...
user avatar
1 vote
1 answer
126 views

IMU Senosr fusion algorithm of gyro and accelerometer during acceleration of vehicle

Hello so we have a car with 10 IMUs mounted at different locations of the car and the idea is the measure the centripetal force at each location of the car and compare it to each other. We also need ...
prince salasi's user avatar
1 vote
0 answers
297 views

What exactly is meant by the "Bias instability over temperature range" specification on IMUs?

I'm trying to become educated on IMU specifications, and my understanding is that when comparing IMUs, the Gyros make the big difference. I am looking at the InertialLabs IMU-Nav-100: https://...
JCB's user avatar
  • 11
1 vote
0 answers
608 views

Why does AHRS system with Madgwick filter has so big drift?

I have an MPU9250 on my PCB and I use an AHRS system with a Madgwick filter to get yaw angle. I want to get very accurate and non-drifting yaw angle, but, for unknown reasons, I can't. I calibrated ...
crackanddie's user avatar
1 vote
0 answers
82 views

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 ...
mbenencase's user avatar
1 vote
0 answers
74 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 ...
Stephen Taylor's user avatar
1 vote
0 answers
67 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 ...
Connor Latham's user avatar
1 vote
0 answers
92 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 ...
Joe's user avatar
  • 69
1 vote
0 answers
215 views

Can someone help me understanding reference frames in OxTS data in KITTI Vision Benchmark dataset?

If anyone has worked with KITTI dataset, can you explain the reference frame used in roll pitch yaw values? I downloaded the raw data from this link: http://www.cvlibs.net/datasets/kitti/raw_data.php ...
vinayakdan's user avatar
1 vote
0 answers
60 views

Intel Realsense Cameras for Object Avoidance and SLAM to go to destination

My goal is to make a UAV which can search an area while avoiding obstacles. I figured I would navigate using the SLAM and Intel Realsense D435i (a stereoscopic camera with an IMU built in), but all of ...
figbar's user avatar
  • 111
1 vote
0 answers
1k views

Yaw, Pitch, Roll rate concepts and how to calculate them with an IMU

I need help understanding the difference from Y/P/R rate and the data that I can get from a gyroscope. I am using the raw readings of my IMU (MPU9250) and the Madwick Filter to calculate a quaternion ...
LittnerDiAzure's user avatar
1 vote
0 answers
52 views

Yaw from quaternion with non zero pitch

If IMU is gravity aligned, pitch is zero and yaw is unobservable. If IMU is not gravity aligned, pitch is non zero and yaw is observable. Question: given an input quaternion with non null pitch, how ...
Employee's user avatar
  • 142
1 vote
0 answers
75 views

Kalman filter to fuse ultrasonic altitude sensor and accelerometer

I'm a little confused on how to set up the Kalman filter matrices to fuse an ultrasonic altitude sensor and accelerometer from IMU. I am trying to implement this for a quadcopter. And what I'm ...
pterodon's user avatar
1 vote
0 answers
132 views

Writing IMU accelerometer data into as twist messages into cmd_vel

I am reading accelerometer data from the wiimote /wiimote/state topic. A sample of the data I'm working with is as follows: ...
sisko's user avatar
  • 155
1 vote
0 answers
350 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. ...
Ember's user avatar
  • 71
1 vote
0 answers
138 views

Using an AR.Drone's IMU to perform PDR

My task is simple: I want to move my drone manually around a room (IMPORTANT: I DO NOT WANT TO FLY IT) and I want to see its position update on a map using IMU data. I've attempted something in ROS ...
Fadhil Abubaker's user avatar
1 vote
0 answers
217 views

Accelerometer, gyro, and magnetometer sensor fusion for material resource survey

As a hardware engineer, I have studied quite a lot on sensor spec such as Accel, Gyro and Magnetometer including custom made fluxgate. I have studied matrix and quadarion (complex number) and so on. I ...
Riscy's user avatar
  • 111
1 vote
0 answers
1k views

Orientation parameter for quadcopter with madgwick fusion algorithm

I recently decided to build a quadricopter from scratch using Arduino and now I'm faced with an orientation estimation problem. I bought a cheap 10DOF sensor with 3 axis magnetometer, 3 axis ...
MrDeepPurple's user avatar
1 vote
0 answers
578 views

Fusion of GNSS position data and prefused 9-dof AHRS data

Bosch, FreeScale, InvenSense, ST and maybe others are releasing 9-dof AHRS platforms containing their own fusion software and outputting filtered/sane/fused data (attitude as quaternion and linear ...
Koen's user avatar
  • 11
0 votes
0 answers
6 views

Sensor Synchronization, IMU and Bundle Adjustment

Sensor synchronization is a general issue with SLAM systems, the ideal is having an IMU hardware synchronized with cameras. There are a couple other possible variations though. One variation is ...
FourierFlux's user avatar
0 votes
0 answers
7 views

Integrating t265 into an existing urdf

I am developing a SLAM system using a 2D Lidar and some other sensors. I am using slam_toolbox to create the map->odom_frame tf, but I have a lot of doubts and issues about it. I am using a t265 ...
janonespe's user avatar
0 votes
1 answer
16 views

Integrating acceleration data to obtain the trajectory - where did I do mistake?

I am trying to implement the code to obtain UAV flight trajectory by double integrating its acceleration data. To start with I prepared a dummy flight trajectory and double differentiated it to get ...
RajS's user avatar
  • 121
0 votes
1 answer
7 views

Unconnected tf trees to obtain IMU frame movements relative global frame in rviz (Realsense D435i)

I am trying to obtain the position and movements of the IMU within a Realsense D435i camera from a .bag file. I am using the command ...
rosBeginner's user avatar
0 votes
0 answers
15 views

imu_filter_madgwick how to use?

I have a simple question about the usage of the filters included in imu_tools. So far I have succeeded sending my IMU data to rviz from a bag of a D435i RealSense ...
rosBeginner's user avatar
0 votes
0 answers
11 views

IMU odometry in rviz starting from a bag file (No TF data)

I'm working on a project where I need to read IMU data from a .bag file of a RealSense D435i and obtain its spatial position through filters like those in imu_tools to visualize it in Rviz (together ...
rosBeginner's user avatar
0 votes
1 answer
53 views

Implementing IMU on Hector SLAM

I am working on a project where I need to create a map of buoys on a surface vehicle and return to the starting position after finishing the parkour. The problem is, using Hector SLAM only, both the ...
sivhaslee's user avatar
0 votes
0 answers
16 views

Extended Kalman filter + IMU sensor

I'm trying to implement an extended Kalman filter to the accelerometer and gyroscope. However, the result is not good. It seems to have some errors in my codes. I check the equation and code again but ...
davidchu's user avatar
0 votes
1 answer
39 views

IMU and Magnetometer Conventions in ROS: Sanity check

I am trying to use a system that integrates one IMU and one Magnetometer for an outdoors vehicle, but I am struggling to fully understand some of the conventions used by ROS. I would like for this to ...
TotallyNormalHuman's user avatar
0 votes
1 answer
62 views

Odometry with robot_localization using GPS and Imu, not encoders

I'm working with a mobile robot with GPS and IMU and I need to get the odometry without encoders so I'm trying to tune the robot_localization pkg for Ros2 Humble using dual ekf and navsat_transform. I'...
new_tech_liv's user avatar
0 votes
0 answers
19 views

Is it possible to set ZED 2i IMU ENU Frame

I am trying to implement the ZED 2i IMU data into the robot_localization Extended Kalman Filter. The robot_localization package requires the IMU sensor to be in the ENU frame (0 when facing east, and ...
Harsh Shah's user avatar
0 votes
1 answer
106 views

IMU adafruit BNO055 driver for ros2

I hope you're all having a great day! I'm here with a couple of questions regarding IMUs and their drivers: For those familiar with the Adafruit BNO055 IMU connected to an Arduino Uno, which specific ...
ken's user avatar
  • 1
0 votes
0 answers
38 views

Unscented Kalman Filter Implementation for Robot Localization using wheel odometry and IMU

I'm trying to implement an unscented Kalman filter algorithm for differential robot localization. The sensors I'm using are wheel encoders and 9-DOF IMU. I've implemented the part of the filter for ...
Omar Ramzy's user avatar
0 votes
0 answers
34 views

robot_localization performance with two IMU+GPS combinations

I use the same config file to compare the performance of two different IMU+GPS fusion for the same experiments. The performance of one pair of the IMU+GPS sensor fusion performs great when ...
Ishaan Mahajan's user avatar
0 votes
0 answers
62 views

EKF not providing good position estimation

I am working on a robotics project and I am using the package robot_localization in ROS2. I am trying to fuse the wheel odometry and IMU data, but I am struggling a lot to make it work. I've read a ...
João Victor Aguiar's user avatar