Questions tagged [imu]

Inertial Measurement Unit

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1answer
88 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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1answer
183 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
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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 ...
2
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3answers
446 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 ...
7
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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 ...
2
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1answer
165 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 ...
6
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4answers
2k views

PID control of tank-like robot and IMU

Consider a tank like robot with a motor driver channel for each side of the robot (two motors on the left and two motors on the right) and an IMU. I'm interested in driving the robot in a straight ...
1
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0answers
488 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
70 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) ...
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2answers
796 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
169 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 ...
6
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3answers
37k 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: ...
4
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1answer
264 views

Is increasing gyro , accelerometer sensor range is good or bad ? how does it affect the accuracy

I've been using mpu6050 IMU unit ( gyro + accelerometer ) I found that I can set acc range to +/- 2g or 4g till 16 g and same for gyro +/- 250 deg/sec , 500 deg/sec and so I know that they are ...
6
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1answer
4k views

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 ...
1
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1answer
986 views

How to calibrate an IMU unit?

Simply , how can I calibrate IMU unit ? I read some papers about this topic and was wondering if there are any standard methods.
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2answers
2k views

How to calculate Altitude from IMU?

How to calculate attitude from IMU ? For example, mathematical equations
1
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1answer
93 views

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 )
4
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2answers
595 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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1answer
808 views

Quad copter attitude control

I have built a quad copter completely from scratch (electronics, mechanics and software). I am now at the point where all my sensor data looks correct and when I tilt the quad copter the correct ...
3
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2answers
471 views

Simon K firmware when the IMU outputs at 50HZ

I am building a Quadcopter using the Sparkfun Razor IMU which outputs the Roll, Pitch and Yaw axes values at 50 Hz, which limits the operations of the controller(implemented on Arduino IMU), to 50 Hz ...
8
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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 ...
0
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1answer
73 views

How to use TOA (Time Of Arrival) to measure 3-axis location of a wireless device? [closed]

I need to read the location of my device within a 1m radius sphere, with accuracy of 5-10cm. The device is handheld and wireless, and currently communicates using a Bluetooth v4 chip. I could add an ...
6
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6answers
1k views

How to measure displacement, cheaply and without using an accelerometer?

Motion is known to be confined in a sphere with radius of about 0.5m, and resolution doesn't have to be very high (5cm is enough). The device will actually be incorporated in a toy designed for kids. ...
1
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1answer
341 views

Arduino for simple Data-Glove. Should I go with Mega or Due?

First, I'm a beginner in MCU/Robotic world (been working with ATMega+CVavr, but that's all). so please bear with me. I'm making a prototype data glove (Like KeyGlove, but much more simpler), it ...
2
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2answers
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 ...
8
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4answers
2k 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 ...
3
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2answers
4k views

Tracking with accelerometer and gyro versus multiple accelerometers

I'm building quadcopter and most of the control systems use one accelerometer and gyro. I've read few papers and usually accelerometer is used as reference to the ground because gyro slowly drifts ...
7
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1answer
7k views

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 ...
3
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1answer
484 views

Is there a benefit to using 2 IMU units on a UAV set at different sensitivities?

I noticed that some IMU units are tuned to be sensitive to small changes, other to large changes and some that can be adjusted between different sensitivities. I am familiar with the use of a Kalman ...
6
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1answer
824 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 ...
8
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2answers
278 views

At which stage should filtering be applied to the sensors data?

Shall I filter (kalman/lowpass) after getting the raw values from a sensor or after converting the raw values to a usable data? Does it matter? If so, why? Example: Filter after getting raw values ...
9
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1answer
490 views

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 ...
13
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4answers
7k 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 ...
9
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2answers
1k views

Do I really need a gyro for an airplane flight stabilization system?

I'm working on a basic airplane flight stabilization system, as the precursor to a full autopilot system. I'm using a salvaged Wii Motion Plus and Nunchuk to create a 6DOF IMU. The first goal is to ...
3
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2answers
617 views

Using an IMU to build an INS

What's needed to utilize an IMU such as the ArduIMU+ V3 to be used in an INS. Is there any other hardware needed?
-1
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2answers
403 views

How do you implement an INS from an accelerometer and (optionally) gyros and a magnetometer?

I'm building a walking robot that will need to know when it moves forward. I'm using on-board intelligence and I plan on using accelerometers, gyros, and magnometers (if needed) to be able to detect ...
4
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3answers
2k views

Can I use IMUs to improve the position/posture measurement of fingers in a “data glove”?

I have been using the Cyberglove to control a humanoid robot hand, but found it disappointing as it doesn't measure the posture of the human hand very accurately. I have been wondering about the ...
16
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2answers
7k views

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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