# Questions tagged [noise]

Unwanted or modified signals detracting from some form of reception or perception.

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• 311
720 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 ...
• 203
227 views

• 125
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• 2,453
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### ArduIMU noisy output in Quadrotor

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). Now we have a problem with ArduIMU's sensors output....
3k views

### What would be a way to estimate IMU noise covariance matrix?

Weirdly enough, my robot platform which has an official ROS package supported by a manufacturer doesn't provide any covariance matrices of its sensors. So, I'm basically trying to estimate these ...
267 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 ...
• 329
1 vote
312 views

### What Does the Sensitivity Function Mean?

I'm studying for a test in Automatic Control and I have some troubles understanding sensitivity functions and complementary sensitivity functions. There's one assignment from an old exam that sais "...
• 145
1 vote
255 views

### Eliminating drift generated from double integration of acceleration signal using Envelope Method

I'm trying to remove the drift generated upon the double integration of a noisy acceleration signal. But this question discusses only removing the drift upon single integration to generate velocity ...
1 vote
187 views

### What is the noise in this PWM signal?

I'm in the process of calibrating servos while constructing a new hobbyist robot arm. When testing the base rotation servo I noticed some unexpected noise in the PWM signal while the servo is in ...
• 339
1 vote
78 views

### Kalman filter: 3D measurement error to individiual components

I'm working on a Kalman filter for estimating the position of a point in 3D space. I know that I can measure its 3D position directly with a variance of about 2 mm (in other words: the variance of the ...
• 11
1 vote
56 views

### Heading drift on Beaglebone Blue on small AUV due to power cables (I think)

At my work we use the BeagleBone Blue boards to control somewhat small AUVs. The board is placed in underwater tubes along with batteries, ESCs for thrusters and all other electronics. We use the in-...
• 111
116 views

### accelerometer and gyroscope fusion using extended kalman filter

I'm working on my graduation project which is characterizing human body posture. I'm using IMU so I get measurements from the accelerometer and gyroscope and I'm wealing to fuse these two filters so I ...
118 views

### EKF singularity problem when measurement noise R is zero

my Extended kalman filter (EKF) program works well, my estimated state vector is same as real state vector when I give any positive definite number to measurement noise R. But I want to make ...
35 views

### Understanding import attributes of electronics speakers, by example

I'm new to electronics/robotics and I'd like to start with a simple project that uses a speaker to play sound clips when a certain event/input/stimulus is detected. Looking on Digi-Key and similar ...
358 views

### Should the kalmanfilter have disturbance as input?

This is a kalmanfilter As you can see, the process noise(disturbance) is not going to the kalmanfilter. But the state space model for the state feedback system is written as this: https://youtu.be/...
• 311
754 views

### Eliminating Electrical Noise from my motor driver

Background: I am using an Arduino Mega connected to a RoboClaw 2x60A motor driver. I asked this question about the system, but I have since narrowed the scope of the problem. I tried adding a bunch ...
• 155
31 views

### Unwanted "noise" using the sensor plugin libgazebo_ros_ft_sensor.so

When trying to use the library libgazebo_ros_ft_sensor.so for a F/T-sensor plugin there is a strange repeating pattern of "noise" on the topic when the robot is just being gravity ...