Questions tagged [imu]
Inertial Measurement Unit
26
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Why do 3-axis accelerometers seemingly have a left-handed coordinate system?
Careful inspection of page 35 (figure 58) of the ADXL345 datasheet shows that under gravitational loading only, the chip uses a left-handed coordinate system. My own experiments with this chip ...
Ben♦
- 5,780
8
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2
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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 ...
7
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3
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How to estimate yaw angle from tri-axis accelerometer and gyroscope
I would like to estimate the yaw angle from accelerometer and gyroscope data. For roll and pitch estimate I've used the following trigonometric equations:
...
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2
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Kalman Filter GPS + IMU
I know this probably has been asked a thousand times but I'm trying to integrate a GPS + Imu (which has a gyro, acc, and magnetometer) with an Extended kalman filter to get a better localization in my ...
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3
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imu position without GPS or camera
I have a IMU that has 3-axis accelerator, 3-axis magnetometer, 3-axis gyroscope and row, yaw, pitch value. I want to get the location of the IMU coordinate(the beginning point is (0,0,0)) but I know ...
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2
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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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3
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Navigation - GPS + IMU; how to make it more accurate?
Currently, I am trying to navigate a small robot car to point A from my current position. The car has a GPS sensor and a BNO055 IMU(Gyro + Mag + Acc). I know the GPS co-ordinates of point A. Using the ...
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Displacement with accelerometer [duplicate]
I want to use a sensor to find displacement with accelerometer.
How can I use accelerometer to find displacement? I want to use this for a quadcopter.
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2
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How to choose a good IMU for a wheeled robot?
At our lab, we have a several "Kurt" type robots (about the size of a Pioneer, six wheels, differential drive). The built-in gyroscopes are by now really outdated; the main problem is that the ...
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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 ...
- 241
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Chaining Kalman filters
My team is building a robot to navigate autonomously in an outdoor environment. We recently got a new integrated IMU/GPS sensor which apparently does some extended Kalman filtering on-chip. It gives ...
- 2,122
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How are units of noise measurement related to units of a sensor's data measurement?
I'm trying to understand how noise is represented for accelerometers, gyroscopes, and magnetometers so that I can match the requirements of my project with the standard specs of these sensors.
I ...
- 2,122
7
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1
answer
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Quadcopter PID Algorithm
I'm trying to implement a PID control on my quadcopter using the Tiva C series microcontroller but I have trouble making the PID stabilize the system.
While I was testing the PID, I noticed slow or ...
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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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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 ...
- 73
6
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1
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Euler Angles from 9DOF IMU
Using the Adafruit 9DoF module I Need to convert the Accel + Magneto + Gyro into Euler Angles for a motion capture application. Any hints on where to start?
Managed to get X,Y,Z when the IMU is ...
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5
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1
answer
720
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Gyro measurement to absolute angles
Let us assume we have a gyro that is perfectly aligned to a global frame ($X,Y,Z$).
From what I know the gyro data give me the angular rate with respect to the gyro axis ($x,y,z$). So let's say I ...
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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 ...
2
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3
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610
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Localising a robot placed at an unknown position in a known environment
I am a third-year electrical engineering student and am working on an intelligent autonomous robot in my summer vacations.
The robot I am trying to make is supposed to be used in rescue operations. ...
2
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5
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Shield IMU from magnetic interferences
I experienced some drifting when coming near to magnetic fields with my IMU, so I wondered if it is possible to completely shield the IMU from external influences. Would this be theoretically possible ...
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Self balancing robot control system strategies [closed]
I’m in the early stages of designing a self-balancing robot as a way to refresh my knowledge on control theory, which has been gradually slipping away since graduating about a year and a half ago. I'm ...
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2
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1
answer
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Angular velocities and rotation matrices
Let us assume I have an object O with axis $x_{O}$, $y_{O}$, $z_{O}$, with different orientation from the global frame S with $x_{S}$, $y_{S}$, $z_{S}$ (I don't care about the position).
Now I know ...
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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 ...
- 43
1
vote
1
answer
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What's the difference between Yaw and Attitude in Quad Rotor
I have a big miss conception between Yaw and attitude ?
Isn't both represent "how far is the quad from earth ?"
Also if you could post how to calculate them from IMU (gyro +accele + magent )
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2
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350
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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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1
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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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