Questions tagged [imu]

Inertial Measurement Unit

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2
votes
1answer
207 views

Why does one IMU axis influence another?

For a home robotics project I just bought a BerryIMU to connect it to my Raspberry Pi. After hooking it up I ran the provided Python code to read out some values while moving it around. If I keep the ...
0
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1answer
1k views

which is best IMU for Quad-Copter [closed]

Actually i am trying to write my own Flight Controller for Quad-Copter that is controlled by Remote over radio signals.So for a flight controller i have to buy a inertial measurement unit(IMU).So ...
2
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2answers
2k views

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 ...
6
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2answers
7k views

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 ...
2
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3answers
474 views

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. ...
1
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0answers
135 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 ...
2
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0answers
496 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,...
1
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0answers
202 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 ...
6
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2answers
746 views

Need help regarding development of Extended Kalman Filter for sensor-data fusion of odometry and IMU data

I'm trying to develop an Extended Kalman Filter (EKF) for the positioning of a wheeled vehicle. I have a 'Baron' robot frame with 4 static wheels, all driven by a motor. On the 2 rear wheels I have an ...
2
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1answer
260 views

Robot positioning using IMU quaternion data?

I want to use a MPU9150 to give me the position (XY) and heading (angle) of a wheeled robot. This MPU9150 from invensense has a Digital Motion Processor in it which can give me a quaternion. But how ...
1
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1answer
1k views

What are the specifications of the digital compass used in iPhone 6S

What are the specifications of the digital compass used in the iPhone 6S? I am trying to measure yaw angle using the magnetometer. I observed the magnetometer/digital compass in the iPhone is really ...
0
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1answer
2k views

connecting MPU-9250 GY-9250 SENSOR MODULE to arduino uno

i am using this sensor to make self balancing robot.At first i have soldered the header(only to vcc,gnd,scl,sda ) on the imu borad at the opposite side where there is no component mounted.then ...
2
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1answer
7k views

Using Accelerometer, Gyroscope and any sensor to track speed, position,

Problem Currently working on reverse engineering this application zepp.com/baseball. This is a wearable device that can track a users speed positional tracking when the object makes contact with ...
1
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1answer
2k views

Pose-Graph-SLAM: How to create edges if only IMU-odometry is given?

I want to estimate the poses of a vehicle at certain key frames. The only sensor information I can use is from an IMU which yields translational acceleration and orientation measurments. I obtain a 7D ...
3
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2answers
615 views

Multi-Rate Sensor Fusion using EKF

Context: I have an IMU(a/g/m) + Wheel Odometry measurement data that I'm trying to fuse in order to localize a 2D (ackermann drive) robot. The state vector ...
1
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1answer
825 views

The logic of implementing an Auto-level function in a PID flight controller

So I have multi-rotor with a basic PID controller, that keeps its axis stable through the gyroscope. However, the multi rotor, does not keep its height or position. So I would like to use an ...
3
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2answers
1k views

Is there a way to measure 3 axis orientation without a magnetometer?

I have bought an STM iNEMO evaluation board in order to monitor the inclination of a separate magnetic sensor array as it moves in a linear scan outside of a (non-magnetic) stainless steel pipe. I ...
0
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2answers
3k views

Localization with only IMU [duplicate]

What will be the best approach to get the most localization accuracy out of only an accelerometer and gyroscope?
1
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1answer
1k views

Real-time GY-85 IMU sensor interfacing with Simulink

How do I read real time values from the GY-85 IMU sensor at Simulink connected via Arduino? Also, I intend to interact with the Virtual Reality environment at Simulink using this GY-85 IMU sensor. Is ...
4
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3answers
2k views

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 ...
0
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2answers
521 views

Problems about Complementary Filter IMU tuning

I'm developing a project consists of an IMU controlled by Arduino through which you can send via a radio module, the data to the PC of the three Euler angles and raw data from the sensors. For ...
0
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3answers
755 views

How to use an IMU to hover at a fixed location in a quadcopter in the presence of gravity?

There's an accelerometer in the IMU. The output can then be integrated to estimate the position, at least in theory. But in practice, there's a huge acceleration from gravity, which varies rather ...
0
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2answers
2k views

IMU sensor and compensation

Hi I'm using "minImu 9" 9 DOF IMU (gyro, accelerometer and compass) sensor and it gives pitch roll and yaw values with a slope on desktop (no touch, no vibration, steady). Y axis is angle in degree ...
1
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0answers
503 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 ...
2
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1answer
113 views

Quadrocopter problem with stability

I'm building quadcopter from scratch, software is implemented on STM32F4 microcontroller. Frequency of main control loop equals 400Hz. I've though everything is almost finished but when i've mounted ...
2
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2answers
385 views

IMU rotate about one axis, other two angles change too

I am trying to use Invensense's MPU9250. I am using provided library to read euler angle. When the IMU rotates about one axis, angles about other two axes change too. What could be potential cause to ...
4
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1answer
932 views

Filtering IMU angle discontinuities

I try to measure Euler angles from an IMU, but some discontinuities happens during measurement, even in vibrationless environment, as shown in the images below. Can someone explain which type of ...
8
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4answers
3k views

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 ...
2
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2answers
110 views

Aligning datasets with drift

I have a dataset that contains position information from tracking a robot in the environment. The position data comes both from a very accurate optical tracking system (Vicon or similar) and an IMU. I ...
2
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1answer
301 views

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 ...
5
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1answer
581 views

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 ...
1
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1answer
478 views

Balancing a plate with an IMU offset from the center

I recently bought a IMU . I am new at this. My question: Does the positioning of the IMU matter? Are there any differences between placing it at the center of the plate or if it is offset from the ...
0
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1answer
854 views

Mobile Robot path reconstruction by using IMU acceleration and Yaw angle

I hope you can help me with my project. I'm using a skid-steering wheeled mobile robot for autonomous navigation and I'd like to find a way to be able to perform path reconstruction in Matlab. By ...
2
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2answers
709 views

Axis of rotation via IMU

Using an IMU (gyro, accelerometer and magnetometer), as found in most smartphones, can I detect the differences between tilting the device, say forward, along different (parallel) axis positions? To ...
2
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2answers
103 views

Positioning Sensor

I would like to locate the position of a stationary autonomous robot in x-y-z axis relative to a fixed starting point. Could someone suggest sensors that would be suitable for this application? I am ...
5
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1answer
2k views

Simple Sensor Fusion for pose estimation

I am currently working on a balancing robot project, which features fairly low-cost sensors such as an 9-Dof IMU with the measurement states $\textbf{x}_\text{IMU} = \left[a_x, a_y, a_z, g_x, g_y, ...
4
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2answers
635 views

IMU based acceleration parameters for differential drive robot

I have a differential drive robot whose motors are virtually quiet while driving on a completely flat surface, but the motors make a lot of noise when on a incline. This is likely due to the ...
1
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0answers
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 ...
13
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4answers
8k views

Do magnets affect IMU values?

Im in the process of making a robot which requires 12 3x10mm cylindric magnets for the construction. They are 30mm from the center of the robot where I plan to have the IMU. I was thinking about ...
3
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2answers
1k views

How do I choose the best filter for dead reckoning with an IMU?

I'm searching filter to reduce noise and smooth the signal while dead reckoning with an IMU (6dof gyro+accelerometer). What are the differences/advantages/disadvantages of the following filters: ...
6
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1answer
827 views

Quadrotor control using ArduIMU

We are using ArduIMU (V3) as our Quadrotor's inertial measurement unit. (we have a separate board to control all motors, not with ArduIMU itself). As mentioned here , the output rate of this module ...
0
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1answer
92 views

Provides a 10 Degree-Of-Freedom IMU reduntant data?

Basic question concerning sensor fusion: A standard 10 DoF IMU, I mean this cheap things for the tinkerer at home, provides 10 values: 3 Accelerometers 3 Gyroscope 3 Magnetic Field Measurements 1 ...
2
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3answers
493 views

Minimising lateral drift in a PID (Arduino) controlled quadcopter using a 6DOF IMU

I'm developing a stabilisation system for an 'off-the-shelf' quadcopter by using an Arduino Mega and an IMU. The IMU is reading the angle of the quad, calculating motor commands by using a PID ...
2
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1answer
179 views

FreeIMU External Magnetometer

I have been using the FreeIMU library successfully but now I want to add an external magnetometer that I can mount away from my motors. I've figured out how to modify the FreeIMU library to use an ...
2
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1answer
2k views

How do I get MPU 6050 gyroscope data using "MPU6050_6Axis_MotionApps20.h" library

I'm currently calibrating the MPU6050 chip using an arduino mega 2560. I am using the J Rowberg 12c dev libraries. I can get it to print raw accelerometer and gyroscpe values (very unstable, wildly ...
7
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3answers
42k views

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: ...
2
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1answer
205 views

How can I filter Gyroscopic data?

I am using an Arduino Mega with an MPU6050. I can get gyroscopic data as well as euler angles. The problem is my gyro data keeps going back and forth between 0 and -1 despite me not moving it at all (...
2
votes
1answer
84 views

3-axis Magnetometer Question

Apologies if this is a stupid question, but if I have a 3-axis magnetometer, and I calculate the vector magnitude as sqrt(magX * magX + magY * magY + magZ * magZ) ...
0
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2answers
871 views

differential robot yaw estimation using kalman filter

Hello i am building a differential drive robot which is equipped with quadrature encoders on both of the motors. My aim is to be able to predict the heading (yaw angle) of the robot using a kalman ...
0
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1answer
174 views

interfacing arduino uno with 9 dof razor imu

I have followed the tutorial for razor IMU and it worked perfectly when the IMU is directly connected to the PC. Currently, i am trying to interface the 9 dof razor imu with the arduino uno by simply ...