Questions tagged [imu]

Inertial Measurement Unit

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3
votes
1answer
386 views

I fused a GPS and IMU and I am wondering if my results make sense

I am trying to fuse a ublox M8 (https://www.u-blox.com/sites/default/files/products/documents/u-blox8-M8_ReceiverDescrProtSpec_(UBX-13003221)_Public.pdf) with a MicroStrain IMU (http://www.microstrain....
5
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1answer
259 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 ...
2
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1answer
531 views

IMU measurement model

I read in this set of slides on p.11 that the IMU measurements, such as acceleration are affected by bias and noise, as expressed in this equation: $_B \mathbf {\tilde a} _{WB}(t) =\ \mathbf R_{BW}(...
1
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1answer
47 views

Can someone explain what is going on in this calibration video?

I am trying to understand this IMU calibration video. https://www.youtube.com/watch?v=xF7sLU0fX7k&feature=em-comments In the video the operator gets accelerometer data when pointing each axis in ...
0
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2answers
725 views

How would i implement position and heading readings into my SLAM system?

I am trying to build a low-cost SLAM system with an MPU-6050 and GY-271 (magnetometer). Currently, i have a robot with an Arduino that collects the sensor data and a Raspberry Pi that (hopefully) will ...
0
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1answer
95 views

Do i really need an AHRS for 2D maps?

I am currently making a 2 wheeled SLAM robot that will use an array of either ultrasonic or sharp IR sensors with a particle filter. I also have a MPU-6050 and GY-271 and i am looking to turn it into ...
6
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1answer
3k views

Kalman filter GPS + IMU fusion get accurate velocity with low cost sensors

I'm new to all this robotics stuff. Especially to Kalman filter. My initial goal is to have velocity as accurate as possible Here is my case: I have a phone which is mounted, for example in the ...
3
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2answers
1k 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 ...
0
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1answer
781 views

IMU alignment methods

I have an IMU that is outputting the following for its measurements: ...
3
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2answers
446 views

Compensation for IMU mounting misalignment

I have an MPU6050 IMU and I would like to mount it on an FSAE car and use it to measure the yaw, pitch, roll, and angular velocities as it drives. As it's impossible to mount it perfectly flat and ...
1
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1answer
351 views

Why the IMU measurements only accumulate drift in 4DOF

I'm studying the Technical Report of VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator available at: https://github.com/HKUST-Aerial-Robotics/VINS-Mono/blob/master/...
3
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1answer
6k views

Ardupilot on Raspberry Pi

I'm making a quadcopter for the first time and want to be as low cost as possible, and when it comes to flight controllers APM is the best open-source project, and is compatible with Raspberry Pi. My ...
2
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1answer
450 views

Stabilising a quadcopter using YPR

I'm using the MPU-6050 accelerometer + gyro with the library I2Cdev which outputs: quaternion, euler angles and YPR angles. The equations used for calculating the YPR are: ...
2
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2answers
1k views

MPU9255 gyro data to roll pitch?

So I have -32768 to +32768 coming out from MPU9255 (gx,gy,gz) which is converted to 0-250 dps(degrees per second) using 131 which is Gyro's sensitivity. My question would be how do you use this data ...
5
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3answers
2k views

Does multiple IMU increase accuracy

I'm just starting up with IMU's and I really want to work on my own flight controller, but a question always hits my mind and I am not able to find answer anywhere, so I'm here. Will multiple IMUs ...
0
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1answer
227 views

What does ardupilot do and how does it do it?

I have been using ardupilot on drones for a while and I don't exactly know what it does. I know it keeps a drone leveled, lets us set way points and automatically fly through them, etc. Is that it? If ...
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0answers
276 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. ...
4
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1answer
409 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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0answers
22 views

Getting velocity from IMU acceleration [duplicate]

I am doing to research about why you cannot use IMU acceleration the integrate to get velocity. Everyone says you cannot do that due to there being error but what error is this exactly and where does ...
2
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1answer
68 views

Do I need gyro sensor to make sure my automower turn 180deg if I already used 9DOF IMU?

I am doing a project to build an autonomous lawn mower and I need to decide several type of sensor to complete the features. one of my features is the vehicles need to stop running when someone held ...
2
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1answer
194 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 ...
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2answers
1k views

How to make sense of IMU (BNO055) data

I have a project that I'm working on that needs data about which directions something has moved and how quickly from a given point (accelerometer and magnetometer?). I have the working python code for ...
6
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2answers
544 views

Explanation of Quadcopter Dynamics, Components and Control

I am about to build my own quadcopter from scratch. However i am having problem with understanding how it is possible to control the quadcopter without knowing the current rpm of the BLDC motors. ...
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 ...
1
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2answers
359 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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0answers
133 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 ...
3
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1answer
955 views

Stabilizing a Drone

I have my IMU and I can get attitude (pitch, roll, yaw) as well as gyro (x, y, z) As far as I can tell, ...
2
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5answers
2k views

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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0answers
201 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 ...
2
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0answers
489 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,...
6
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2answers
698 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
248 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 ...
2
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3answers
442 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. ...
2
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2answers
9k 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 ...
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 ...
7
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1answer
5k views

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 ...
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
586 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 ...
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 ...
1
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1answer
822 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 ...
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2answers
2k 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?
3
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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 ...
1
vote
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 ...
8
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1answer
6k 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 ...
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
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 ...
8
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3answers
19k 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 ...