Questions tagged [imu]

Inertial Measurement Unit

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1 answer
25 views

Position Recording [closed]

I have a robot that drives around a circuit. I need to know accurate positioning of this robot at all times in rapid updates (max 100ms) and then report that into our simulation software, and am ...
2 votes
1 answer
244 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 ...
0 votes
1 answer
38 views

Conversion of roll, pitch and yaw from ENU to NED

I have roll, pitch and yaw values in an ENU frame. How can I convert it into a NED frame?
0 votes
1 answer
144 views

Get rotation of IMU data snapshot

I received snippets of data of an IMU with 9 DoF in motion. For these I wanted to get their rotation by angles relative to the earth frame. My goal is to receive ...
2 votes
1 answer
362 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 ...
0 votes
1 answer
68 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 ...
5 votes
1 answer
449 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 ...
0 votes
2 answers
45 views

The choice of using quaternions and using gyro & accel separately in EKF

I am working on realising the self-navigation of a vehicle. I have already written an extended Kalman filter with a state vector using position, velocity, Euler angle, acceleration, and angular ...
0 votes
1 answer
492 views

MPU6050 gyroscope giving wrong measure

i am trying to make an angle meter, using the UNO and MPU6050, following joop brokking video tutorials, when utilizing the accelerometer, the results are fine, however when i try to use gyroscope ...
1 vote
0 answers
28 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 ...
5 votes
2 answers
323 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 ...
1 vote
1 answer
55 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 ...
0 votes
1 answer
93 views

How to perform time-offset calibration use GTSAM in Camera-IMU system?

Assume we have camera poses data and IMU data(which include gyr and acc data) with different timestamps, now I want to estimate this value, I known that this can be done in many ways(EKF,MSCKF), but I ...
1 vote
0 answers
22 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 ...
0 votes
0 answers
57 views

MPU6050 providing gyroscope values for linear acceleration

I am using this ROS2 driver to connect my MPU6050 to RPi 4 running ROS2 humble. It outputs an IMU message containing linear acceleration and angular velocity. The linear acceleration values seem to be ...
0 votes
1 answer
51 views

Simulate GPS IMU With Quadcopter Swarm?

I have multiple drones work in swarm formation, i made the quadcopter model and the swarm one. Until now i have the swarm moving in a formation leader-follower and track a predefined trajectory based ...
0 votes
0 answers
20 views

Why new/recommended MEMS IMU for AHRS for drones are 6-DOF instead of 9-DOF?

I'm developing an quadcopter as an DIY project. I'm in nascent stage of development. I've just finalized the design/working philosophy. I'm planning to fuse data from 9-DOF (9-Axes) IMU + GNSS + ...
0 votes
0 answers
18 views

Do MEMS or optical gyroscope record Earth's rotational and revolutional angular velocities?

I am using a 3 axis gyroscope (Android device) to record angular velocities using a sensor data logger application. When the device is placed stationary, the gyroscope recorded the following values: ...
1 vote
1 answer
229 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 ...
0 votes
1 answer
78 views

What should I use for a Visual+IMU+GPS fusion? A Madgwick or a Kalman?

I am new to robotics, and recently I am involving in a sensor fusion task using visual input (binocular at present), an IMU, and a GPS module. I have searched for related journal papers for a ...
0 votes
1 answer
94 views

Compensation of sudden impacts/shocks in adaptive AHRS sensor fusion algorithms

Background I have a 9-DOF MEMS-IMU and trying to estimate the orientation (roll, pitch and yaw) in scenarios (e.g. car crash) where sudden shocks (mainly linear) lead to high external accelerations ...
0 votes
1 answer
157 views

GPS + IMU data and kinematics equations

I have the following data Longitudinal acceleration, $a_x^{IMU}$ Lateral acceleration, $a_y^{IMU}$ Vertical acceleration, $a_z^{IMU}$ Yaw angle, $\psi$ Yaw rate, $\dot{\psi}$ Latitude, $\rightarrow ...
0 votes
1 answer
85 views

accelerometer and gyroscope fusion using extended kalman filter

I'm working on my graduation project which is characterizing human body posture. I'm using IMU so I get measurements from the accelerometer and gyroscope and I'm wealing to fuse these two filters so I ...
4 votes
2 answers
153 views

Why do we need to know the translation between Camera and IMU?

In Visual Inertial Odometry, assuming the camera and the IMU are attached to the same rigid body, why isn't it enough to know just the relative rotation between the camera and the IMU? Why do we need ...
1 vote
1 answer
157 views

How to deal with asynchronous samples in a kalman filter framework multi-sensor fusion?

I have setup a sensor fusion problem to estimate a classical 2d position + orientation of a wheeled mobile robot in an embedded environment. Sensor measurements include: IMU (6axis accl+gyro) @ 40Hz ...
3 votes
1 answer
174 views

Calculation of IMU offset for Placement of Inertial measurement unit away from centre of mass

I am working on a 6DOF IMU that contains a 3-axis accelerometer and a 3-axis gyroscope. I am building a project to plot the position and orientation of a vehicle/dirt bike in a 3d plane. However, the ...
0 votes
0 answers
65 views

Nonlinear continuous system function of IMU sensor fusion robot

For my robotics course I have to implement the nonlinear continuous system function for a mobile robot that is equipped with a GPS receiver and an IMU consisting of an accelerometer and a gyroscope. ...
-1 votes
1 answer
29 views

SLAM: global BA and IMU rate

My understanding is that in SLAM systems keyframes are recorded at a lower rate and used for loop closing and global BA vs every every image which is used for a sliding window optimization. What I am ...
1 vote
1 answer
235 views

Center of gravity offset for accelerometer and gyroscope readings

I am working on a 6DOF IMU that contains a 3 Axis Accelerometer and a 3 Axis Gyroscope. I am building a project to plot the position and orientation of the turret/cabin in a crane in 3D space. The IMU ...
0 votes
1 answer
30 views

Imu orieantation data increase by oneself

I subscriber imu data and print it from my python script.I move imu sensor fast then stop the move but imu data still increasing by oneself. How can I slove this problem? ...
0 votes
2 answers
34 views

How to read the map output file generated by a project using Cartographer without ROS

Currently I can successfully generate the map output file but I have no idea how to display it in practice. Basically, it should be a 2D SLAM map. The project I'm using is available at the following ...
1 vote
1 answer
415 views

Sensor fusion with extended Kalman filter for roll and pitch

I'm trying to implement an extended Kalman filter to fuse accelerometer and gyroscope data to estimate roll ($\phi$) and pitch ($\theta$). I've found a lot of kalman filter questions but couldn't find ...
2 votes
1 answer
543 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. ...
0 votes
0 answers
145 views

IMU to Camera transformation

Suppose you are implementing SLAM or VIO system, you have your camera C and IMU and a coordinate transformation between them (R, T). How do convert IMU measurements to camera accelerations and ...
1 vote
1 answer
82 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 ...
2 votes
0 answers
40 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 ...
1 vote
1 answer
88 views

Opposite direction of rotation calculated by Gyro and Accelerometer

I have just started learning how to fuse the data measured by the gyro and accelerometer to estimate the attitude of an IMU in Matlab. I have no problem estimating or understanding the Euler angles ...
0 votes
0 answers
23 views

Suggest me an IMU which is not affected by magnetic field

I am using IMU for platform stabilization (Stewart Platform). But the issue is that there is a strong changing magnetic field. And I think that it might affect the accuracy of IMUs. Any suggestions?
2 votes
2 answers
7k views

Razor IMU Arduino interfacing

I was looking into the Razor IMU from Sparkfun, and realized that the only example code on sparkfun's website was for it was meant for hooking it up to a computer (the AHRS head tracker used a serial ...
1 vote
1 answer
53 views

Using an IMU to determine the axis about which it is being rotated

I've got a 6DOF IMU and have, using some trig and and a few references such as ADI's app note: https://www.analog.com/en/app-notes/an-1057.html successfully implemented some Arduino/C code to ...
1 vote
1 answer
71 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 ...
0 votes
0 answers
41 views

Question about 4-mecanum wheeled mobile robots

I'm trying to make a mobile robot with 4 mecanum wheels. The method that I've chosen is to fuse the sensors(encoder, imu) with EKF and use the SLAM algorithms(Gmapping, Cartographer, etc..). Right now ...
2 votes
0 answers
136 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 ...
1 vote
1 answer
982 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 ...
0 votes
0 answers
15 views

My LSM303 magnetometer values are stuck

My Raspberry Pi Pico is connected to a 9 DOF IMU like this one, Adafruit 9-DOF IMU Breakout - L3GD20H + LSM303, through an I2C connection. For some reason, whenever I try and get values from the ...
0 votes
1 answer
1k views

Gyro yaw drift compensation

I'm looking for some kind of filter, algorithm which will allow me to compensate gyro yaw drift using heading of magnetometer. My project requires only yaw measurments and both sensors are flat. Is ...
0 votes
1 answer
201 views

remove gravity from acceleration on Myo armband IMU measurements

I'm working with the Myo armband through the myo_ros package. The device is able to provide IMU measurements comprising orientation, linear acceleration and angular velocity. The orientation is ...
0 votes
0 answers
28 views

PID controller for slowly varying system [duplicate]

I am making a robot that is required to move in a straight line, but it is slowly turning on the left or right, this error keeps accumulating (eventually resulting in a very large radius turn). So, ...
0 votes
0 answers
13 views

Nao robot IMU data rates

I'm trying to stream data from the Nao's inertial unit in its trunk. However the update rate is quite slow ~ 1Hz. Is there any way to improve it? For reference, I issued the following command using ...
2 votes
2 answers
454 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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