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Sensor fusion is a process by which data from several different sensors are "fused" to compute something more than could be determined by any one sensor alone.

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30 views

How to do IMU and camera “sensor fusion” tracking?

I have some 50ms latency cameras at hand and a 800Hz IMU (gyro+accelerometer+magnetometer). I would like to know how exactly how I should do a sensor fusion of such an IMU and camera to fix the ...
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1answer
33 views

Robot localization using sensor fusion (How to model the Extended Kalman Filter)?

I am new to the robotics field and sensor fusion as well. I am trying to localize my robot using the data from my camera and the odometery through extended Kalman filter. I have the data offline, I ...
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0answers
58 views

GPS + IMU fusion frame without magnetometer

I am trying to implement the Kalman filter for GPS + IMU fusion. I have the position and velocity (at a low rate) from the GPS module. I further have the accelerometer and gyroscope output in the IMU ...
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25 views

EKF Slam landmark estimation doubt

I am novice in Slam. I want to implement EKF based slam. For that I consider the book PROBABILISTIC ROBOTICS by Sebastian THRUN. ...
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3answers
64 views

Gyro Yaw Drift Compensation With The Aid of Magnetomer

I'm getting data From an IMU and a Magnetometer synchronously, my roll and pitch drifts are corrected with accelerometer inside IMU and now I have the DCM matrix ...
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59 views

Position-Attitude Kalman filter with Quaternions

I want to design an EKF to estimate the position of a UAV. If I were doing this with Euler angles then I would have a state vector that would look like \begin{bmatrix}north&east&down&...
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1answer
33 views

Sensor fusion with gyroscope and motor rotations

I am building a robot (2 powered wheels and one ball bearing). The problem is that I can't seem to make it drive straight. I literally find it impossible, I have been trying for weeks. I have two ...
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0answers
52 views

Kalman filter for slow ground vehicle with RTK

I have been using dual RTK receivers for my tractor projects. This gives me reliable position, heading, and tilt at low rates (10 Hz). I recently began working with an INS (an Advanced Navigation ...
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2answers
96 views

Quadcopter stable with angular velocity but not with absolute angle

I'm making a flight controller for quadcopter. It is very stable when regulated by angular velocity, but it is horrible when regulated by angle. What are the potential problems when regulating a ...
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0answers
19 views

How to stabilise the Gyro drift using 6DOF

I am trying to write quoternion using 6DOF. I am having gyro data which are noisier and unable to get stable quoternion. I used Mohany's filter and complimentary filter but still dont have luck. Find ...
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0answers
21 views

Algorithm for distinguishing unique obstacles from simple 2D lidar data (angle and range)

I have scanning laser that returns distance on degree increments ranging from -130 degrees to positive 130 degrees relative to my heading, 261 points in total. It is my intention to utilize an ...
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1answer
109 views

How do timings affect input, sensor fusion, and output?

I'm programming a quadcopter controller. I've managed to make it fly. But, I'm not sure how to set up the timings schedule for each part of the software. I have several sensors (gyro, accelerometer, ...
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1answer
148 views

Marginalization in Graph SLAM [duplicate]

I have several questions about the process of marginalization in SLAM algorithms: 0 - What are the mathematic intuition behind marginalization process 1 - I know marginalization of states or points ...
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225 views

Loosely coupled GNSS IMU integration

I am trying to integrate a GPS and IMU via a loosely coupled integration. My state is the position and velocity vector. I am using the following equations for the nav frame mechanization. I am ...
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1answer
92 views

Calibrating a laser scanner to a line camera

We have a high-resolution Riegl laser scanner and mounted atop it a Resonon Pika L, which is a hyperspectral camera which records one spatial column at a time, using the second dimension of the sensor ...
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1answer
208 views

How to model transition matrix in indirect kalman filter with external orientation estimate

I am trying to implement an indirect/error state kalman filter following http://www.iri.upc.edu/people/jsola/JoanSola/objectes/notes/kinematics.pdf. However, instead of modelling the orientation and ...
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2answers
349 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 ...
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1answer
143 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 ...
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1answer
457 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 ...
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1answer
2k views

quaternion implementation

I am trying to implement quaternions and i am using CC2650 sensortag board from TI. This board has MPU9250 from invensense which has Digital Motion Processor (DMP) in it. This DMP gives quaternion, ...
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1answer
2k views

How can we use the accelerometer for altitude estimation?

I am currently implementing an autonomous quadcopter which I recently got flying and which was stable, but is unable to correct itself in the presence of significant external disturbances. I assume ...
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0answers
194 views

Lag in altitude measurements using a barometer and an acclerometer

I am fusing data from the barometer and accelerometer using a complementary filter. However, there is a considerable lag in the readings which is affecting the Alt-Hold performance. Accelerometer : ...
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312 views

How does one implement a third order complementary filter for estimating altitude using data from an accelerometer and a barometer?

I am working with the CJMCU build of cleanflight on a small drone. As of now, the algorithm for altitude hold uses a first order complementary filter to combine data from the barometer and the ...
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1answer
394 views

Quadcopter program execution time optimization using Raspberry Pi by increasing i2c baudrate

Is it possible to speed up execution time of a c++ program in raspberry pi solely by increasing the i2c baudrate and increasing the sampling frequency of the sensors? I have the issue of sudden ...
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3k 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 ...
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1answer
264 views

P gain tuning for quadcopter (Is my perception for a P-gain too high correct?)

Good day, I am currently working on a project using Complementary filter for Sensor fusion and PID algorithm for motor control. I viewed a lot of videos in youtube as well as consulted various blogs ...
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1k 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 ...
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2answers
13k 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 ...
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1answer
105 views

Transforming angular velocity?

I have the following system here: http://imgur.com/UTqswOi Basically, I have a range finder which gives me $R_s$ in this 2D model. I also have the model rotate about the Centre of Mass, where I have ...
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1answer
181 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 ...
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1answer
372 views

Solution for INS and GPS integration

I have a GPS module and an IMU (gyro, accelerometer and magnetometer) and I need to build an autonomous navigation system for a quadcopter. It must know its position at any time so that it can track a ...
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1answer
829 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, ...
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1answer
474 views

Are there off the shelf solutions for GPS+INS (accelerometer,gyro,magneto) sensor fusion for getting filtered/fused location and speed output?

I am working on a project that needs tracking location and speed of pedestrians/runners/athletes (so not really robotics, but I see a lot of related usage and posts in the robotics domain, and an ...
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4answers
646 views

How to localise a underwater robot?

I am building an autonomous underwater robot. It will be used in swimming pools. It should be capable of running in any normal sized pool, not just the pool in which I test. So I cannot rely on a ...
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2answers
387 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 ...
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1answer
40 views

Measurement and physics model fusion

I am combining two position measurements of a ball from two sensors in real time to obtain one triangulated position in x,y,z coordinates. As the data exchange of the measurements carries some latency,...
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1answer
73 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 ...
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2answers
248 views

Detect human in proximity? [closed]

I'm looking for ways to detect human presense behind walls in close proximity (around 10 feet) in whatever way possible! Problem is I can't code! (I hope it's ok I'm posting here.) I know there are ...
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2answers
5k 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 ...
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405 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 ...
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2answers
274 views

Is there an advantage to multiple magnetometers for heading computation

I'm building an autonomous sail boat (ripped out the guts of an RC sail boat and replaced with my own mainboard etc.) The controller board I have can accommodate both an MPU9150 and an HMC5883. Is ...
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1answer
50 views

How to periodically estimate states of a LTI if the output is measured irregularly?

How can I periodically estimate the states of a discrete linear time-invariant system in the form $$\dot{\vec{x}}=\textbf{A}\vec{x}+\textbf{B}\vec{u}$$ $$\vec{y}=\textbf{C}\vec{x}+\textbf{D}\vec{u} $$...
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0answers
473 views

Correcting GPS track with visual odometry (sensor fusion)

I am trying to build low cost and precise outdoor positioning. I explored NS-RAW with RTKLIB - this would be doable but probably will need either a base station to get the correction data for rover or ...
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3answers
112 views

Controlling a system with delayed measurements

Assume I have a rather simple system I want to control, but all sensor measurements exhibit considerable time delay, i.e.: $z_t = h(x_{(t-d)}) \neq h(x_t)$ With my limited knowledge about control, ...
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2answers
9k views

Accelerometer, gyro, and magnetometer sensor fusion in 2d

I have not yet build this so this is basically a theoretical question. I am still wrestling with some C code to manage i2c communication etc. When I originally said "I have not build this" I meant ...
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1answer
696 views

Multiple position estimates fusion

I have a system in which I have two separate subsystems for estimating robot positions. First subsystem is composed of 3 cameras which are used for detecting markers the robot is carrying and which ...
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2answers
142 views

Passive ego-motion estimation vs active

I am doing research of ego-motion estimation and positioning in 6DoF space. And I found that apparently all systems are based on active RGB-D sensors, like Kinect. I understand, that such sensors ...
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1answer
374 views

Overcorrecting Kalman Filter

I'm trying to get an extended Kalman Filter to work. My System Model is: $ x = \begin{bmatrix} lat \\ long \\ \theta \end{bmatrix}$ where lat and long are latitude and longitude (in degree) and $\...
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4answers
13k views

Quadcopter Position Measurement (Accelerometer, GPS or Both)?

I previously thought that an accelerometer on a quadcopter is used to find the position by integrating the data got from it. After I read a lot and watched this Youtube video (specifically at time 23:...
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1answer
119 views

existence probability of an object in fusion

I want to compute an existence probability of an object in a sensor fusion on the high level (having from each sensor list of objects already filtered with e.g. Kalman Filter). There are these ...