Questions tagged [imu]

Inertial Measurement Unit

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1answer
29 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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2answers
65 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
11k views

Accelerometer, gyro, and magnetometer sensor fusion in 2d

I have not yet built this so this is basically a theoretical question. I am still wrestling with some C code to manage i2c ...
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2answers
140 views

Yaw from IMU acceleration

When IMU is gravity aligned, yaw is not observable from linear acceleration data. However, when IMU has non null pitch, the sensor is not gravity aligned anymore and the gravity acceleration gets ...
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2answers
84 views

How does sensor fusion help in robot localization

Good day... Sorry for bigner quesion, but really I need some friendly explanation rather than long reference I have 9 dof mpu9250 imu and gps. I found some source that calculate euler angle in ardunio ...
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2answers
31 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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1answer
42 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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1answer
56 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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1answer
41 views

I2c arduino connection

I am working on a wheel mobile robot which with multiple sensors which are IMU, two encoders, four ultrasonic sensors and using two Arduino: Uno and Mega. The IMU, encoders and the ultrasonic sensors ...
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0answers
14 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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1answer
104 views

Accelerometer and gyroscope noise and bias

I am doing an EKF (Extended Kalman Filter) to fusion Visual Odometry with IMU information. I am using a ROS package called ethzasl-msf (I am using the multi sensor fusion because then I have to add ...
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1answer
597 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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1answer
180 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 ...
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1answer
154 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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1answer
45 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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2answers
285 views

IMU in a gimbal system

I have short question about the alexmos gimbal controller. The Controller receives the gyroscope and accelerometer sensor data from the IMU, that is mounted on the camera. In optimal case, the camera ...
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2answers
58 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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1answer
107 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
345 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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1answer
106 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 ...
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0answers
21 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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0answers
32 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
8k views

What information an IMU gives to a drone?

An Inertial Measurement Unit (IMU) is an important sensor used in aerial robotics. A typical IMU will contain an accelerometer and a rate gyroscope. Which of the following information does a robot get ...
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2answers
845 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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1answer
240 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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21 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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2answers
8k views

How to track robot position?

I'm a software researcher, who in my spare time mentors a robotics team, helping on the software side of things. For years, I keep coming back to the same question: How to determine the robots ...
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3answers
1k views

How to combine odometry information with time-shifted information from IMU?

I'm working with a differential-drive robot that has odometry measurements from wheel shaft encoders and heading information from an IMU (I'm using BNO055 in IMU mode to get Euler angles, primarily ...
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1answer
92 views

Complementary filter for gyroscope and accelerometer

I am trying to understand how the complementary filter works. I did some research and i found this: I am confused about the noise and drift before any filter is applied. I have 2 questions: In the ...
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1answer
5k views

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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1answer
35 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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29 views

Angular movement of a controlled arm relative to an object via Two IMUs

I've been tasked to use two YEI 3-space sensors (IMUs) to detect the azimuth and elevation (altitude in the image below) angle of a moving arm with respect to a fixed object, with a sensor on the end ...
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26 views

Angular rate controller

I try to design an attitude controller with cascaded PD-P structure (angle-angular rate) for well-known quadrotor dynamics according to the thesis. I use an imu as expected in order to get the angle(...
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27 views

Dead reckoning position estimation

I attached two quadrature optical encoders to the wheel of the mobile robot. I also have imu6050 attached to the breadboard to calculate the orientation of the wheel mobile robot localization. I want ...
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0answers
10 views

Wrist's displacement calculation with IMU

My project is about to track the writer's wrist movements with IMU ( with a 3-axis accelerometer, gyro, and magnetometer). I have seen some claims that tracking object in 3-axis is not an easy task ...
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0answers
28 views

How to calculate relative rotation between two IMU's

I'm trying to obtain the relative rotation between two IMU's. In order to verify the quality of the orientation delivered by the IMU (quaternions), I attached both IMUs to a rigid body (bar) but ...
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0answers
21 views

get position of objects using ir

I originally wanted to make a shoddy vr system with two IMU's in two seperate right and left controllers, which their values could be sent over wifi to the game service unity so I can plot their ...
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1answer
232 views

How is the IMU used in the PixHawk?

Looking at 3DR's Pixhawk hardware on GitHub the FMU and IMU are treated as different pieces of hardware. On the schematics for the FMUs (example) there is limited reference to the IMU. So, is the IMU ...
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1answer
64 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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2answers
736 views

IMU and encoder fusion

I'm trying to simulate data fusion for a 4-wheeled mobile robot using ekf and am using IMU and wheel encoders as sensors,where IMU measures linear acceleration and angular velocity and encoder ...
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1answer
188 views

How to get position (X Y values) from a USB optical mouse

I want to use an optical mouse to measure displacement in X and Y direction of my robot. I'm using Ubuntu mate 18.04 on raspberry pi and wrote the following python code : ...
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0answers
58 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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3answers
17k views

Open source implementations for GPS+IMU sensor fusion?

Are there any Open source implementations of GPS+IMU sensor fusion (loosely coupled; i.e. using GPS module output and 9 degree of freedom IMU sensors)? -- kalman filtering based or otherwise. I did ...
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1answer
91 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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0answers
16 views

Compute tangential acceleration of a specific point using IMU data?

I have a question about using datas coming from an imu on a vehicle. The IMU is placed near the rear wheel axle of the vehicle. The reference frame for vehicle control is placed between rear wheels. ...
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26 views

Algorithms for IMU sensors calibration in real time on arduino due?

Im working on a 10 DOF IMU system for quadcopter project. I understand the need for sensor calibration but uptil now I have seen offline ways to compute the calibration offsets/biases, where we take a ...
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1answer
33 views

How can i fusion gyroscope and accelerometer when accelerometer has only roll,pitch val?

I'm currently studying IMU Sensor with 6dof(gyro and accelerometer). My goal is to get Orientation of robot, and i found out that only 6dof imu sensor wouldn't be possible to get a correct Orientation ...
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33 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 ...
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12 views

Object Avoidance Using Intel Realsense

Are there any open source projects that use intel realsense for object avoidance and navigating to a destination?
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32 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 ...