Questions tagged [sensor-fusion]

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.

Filter by
Sorted by
Tagged with
2
votes
0answers
45 views

Kalman Filter for 2d pose

I'm really sorry if this is a dumb question, but I don't have a clue on how to do this. I'm trying to write a kalman filter with a State vector of : {x, y, ẋ, ẏ, ẍ, ÿ } To estimate the 2 dimensional ...
0
votes
1answer
27 views

Bias correction for multiple sensor fusion through Kalman Filtering

I am learning Kalman Filters and was working on a simple example: Temperature measurement of a room by using 4 thermometers(different biases and noises) if i consider that there is no bias in the ...
0
votes
0answers
14 views

Relative pose of 2 sensors in rigid body

I have a robot (gray box in the picture) that I can rotate in 3D (x, y, z) relative to a center of rotation. Let's say that this robot has two sensors with fixed poses in the robot: One IMU that can ...
0
votes
0answers
20 views

get position of objects using ir

I originally wanted to make a shoddy vr system with two IMU's in two seperate right and left controllers, which their values could be sent over wifi to the game service unity so I can plot their ...
1
vote
1answer
29 views

What communication bus is used in state of the art systems to implement a synchronization signal?

I have a robotic system with many sensors that need to have very accurate localization associated with the data they gather. We have a geolocalization system that acquire localization at high speed (...
0
votes
1answer
54 views

EKF sensor fusion

What is the standard way to fuse multiple sensor measurements in an EKF framework? Say you have Odometry, IMU and some form of Lidar which can produce landmarks. EKF is normally presented as a ...
0
votes
0answers
11 views

Simulation flight gives inconsistent sensor data

I made a short outdoors flight of 10 minutes with hector quadrotor on Ubuntu 16.04 Gazebo 7. The sensor readings and the path images are as attached. The flight was simple. I took of slowly, moved ...
2
votes
1answer
40 views

Is it possible to track position using gyroscope and accelerometer without a magnetometer?

I'm looking for help on a project where I will be placing sensor data in 3D space using augmented reality. Most solutions I have found for finding position with an IMU involve the magnetometer, but ...
2
votes
1answer
51 views

how to calibrate gyroscope using raw gyro data?

I wrote a simple code for where I take 500 samples with stationary gyro and subtract those offset values to get calibrated gyro data. Question: Is this much calibration enough to implement this gyro ...
0
votes
0answers
25 views

Algorithms for IMU sensors calibration in real time on arduino due?

Im working on a 10 DOF IMU system for quadcopter project. I understand the need for sensor calibration but uptil now I have seen offline ways to compute the calibration offsets/biases, where we take a ...
0
votes
1answer
55 views

what kind of processing is required on raw IMU data before it is fed into a filter?

Im working on quadcopter. At this stage im coding a reference system for quadcopter using 10DOF board.At this stage im at the point of only getting raw data values from accelerometer, gyroscope, & ...
0
votes
1answer
72 views

How to Correct for Gyroscopic Drift?

I know similar questions have been asked before, but I have researched for hours now and have not been able to find a viable solution. I have a Raspberry Pi 4 and the Adafruit LSM9DS1 IMU, which has ...
0
votes
1answer
57 views

Fusing IMU sensor with odometry

Would fusing Odometry estimation with IMU sensor increase the accuracy of estimation for planar differential drive robots?
0
votes
1answer
48 views

Drone Horizontal Speed Measurement

Assuming no GPS is available, what can be used to measure the horizontal speed of a hypothetical drone? Sensor mass and size don't need to be taken into account. Could small Doppler radars , maybe ...
0
votes
0answers
31 views

How to obtain airspeed data

I want to measure the airspeed on a flying vehicle and get the data with a microcontroller. Note that, there will not be any control mechanism on the flying object, it will be flying mechanicaly/...
0
votes
1answer
34 views

How does one estimate motion from sparse encoders and IMU-Gyro data?

I have a robot which has (for simplicity) only one degree of freedom; it rotates about the z-axis (think like a crane), and has no slip. The shaft encoder delivers data in 0.1° increments, so when ...
3
votes
2answers
97 views

Implementing ESKF

I'm currently struggling with implementing the Multiplicative Kalman Filter or Error State Kalman Filter as described by Landis Markley in Attitude Error Representations for Kalman Filtering. Sadly ...
0
votes
1answer
49 views

SLAM techniques based on contact, odometry and one front camera

Consider a mobile robot provided with a contact sensor that randomly travels in a closed environment, changing direction every time an obstacle is encountered. Is it possible to reconstruct the 2D map ...
2
votes
1answer
69 views

Fusing Multiple Lidars Into 1 Point Cloud

I have a car with 8 lidars, each with a field of view of 60 degrees. My car looks like this How can I merge all the lidar readings into 1 point cloud?
0
votes
2answers
239 views

Convert Vehicle coordinates to World coordinates for positioning

I'm tracking the position of a vehicle along a certain trajectory using the Kalman filter and the idea is to check for improvements in position estimation through fusion of data from multiple sensors (...
1
vote
1answer
113 views

How to synchronise data for fusion in Kalman from multiple sensors with different timestamp information?

I'm using Kalman filter to track the position of a vehicle and receive position data from 2 sensors: A GPS sensor and an Ultrasonic sensor for which I want to implement sensor fusion into the Kalman. ...
0
votes
1answer
65 views

How does sensor fusion related to SLAM

How does sensor fusion affect the slam process?, if we have stereo camera with GPS and Imu, how does sensor fusion benefit the SLAM? Do we use sensor fusion to enhance localization phase of SLAM, and ...
1
vote
1answer
45 views

calibrating large scale manipulator

I'm facing the problem of model calibration for a large-scale manipulator (e.g. example image) with a half-spherical workspace of around 40m diameter. The typical approach would be computer vision, ...
0
votes
2answers
59 views

How to handle multi-sensors data [closed]

I am new to sensor data fusion world. I want to find room vacancy using ultrasonic, PIR and sound sensors. These sensors deliver binary information about the occupancy. How can I combine the ...
1
vote
0answers
48 views

Sensorfusion of odometry, accelerometer and gyroscope using Indirect Kalman Filter

I'm trying to implement an indirect Kalman for pose estimation of a wheeled robot. I found two papers that describe this approach. CMU. Journal (2006) Vol. 5(1) IFAC Conference on Embedded Systems ...
4
votes
1answer
249 views

Yaw drift when implementing AHRS filter fusion

I am using the Matlab AHRS filter fusion algorithm with an InvenSense ICM-20948 to determine object orientation. I seem to be obtaining reasonable results however I am getting what appears to be ...
1
vote
0answers
53 views

Kalman filter to fuse ultrasonic altitude sensor and accelerometer

I'm a little confused on how to set up the Kalman filter matrices to fuse an ultrasonic altitude sensor and accelerometer from IMU. I am trying to implement this for a quadcopter. And what I'm ...
-1
votes
2answers
155 views

Sensor fusion to calculate joint angles between segments of a robot arm using IMU data

I have an IMU attached to each of the segments of a robotic arm, which gives me accelerometer and gyroscope data. My goal is to first of all improve the quality of the sensor readings and subsequently ...
0
votes
0answers
43 views

Can a RPI3B+ handle all this?

I am building a robot that needs to accomplish the following tasks: Keep track of 4 quadrotor encoders, each 979.62 CPR @ ~ 500RPM, so ~ 8163.5 counts per second Read from an RPlidar A1M8, giving out ...
1
vote
1answer
83 views

Fusing absolute robot localization from markers

I have a system which is composed of a rig of 8 cameras which are used for detecting markers in the environment and which outputs 8 estimates of the absolute robot's position and orientation. Now, I ...
2
votes
0answers
105 views

How to handle sensor data for a sensor-fusion algorithm

I am implementing the explicit complementary filter(see below) with a 9DOF MEMS sensors (accelerometer, magnetometer and gyroscope) for attitude estimation. Currently, the gyro and accel update rates ...
0
votes
2answers
91 views

outdoor autonomous robot [closed]

i had search over google and found out more or less some sensor that i could use like sonar, gyroscope, accelerometer,magnetometer and gps and 2d lidar (which is less expensive, around $300) i have ...
0
votes
1answer
201 views

Position Estimates from sensor fusion

I have a quadcopter, and several components in play. First, I have a real position system (VICON), and I also have a SLAM platform. Then, of course, the IMU on the quadcoptor. I am trying to ...
0
votes
1answer
143 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 ...
0
votes
1answer
96 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 ...
0
votes
3answers
1k 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 ...
2
votes
0answers
98 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&...
1
vote
1answer
82 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 ...
1
vote
0answers
144 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 ...
0
votes
2answers
303 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 ...
5
votes
1answer
163 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, ...
2
votes
1answer
587 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 ...
2
votes
1answer
145 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 ...
0
votes
1answer
292 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 Quaternion kinematics for the error-state Kalman filter. However, instead of modelling the orientation and error in orientation ...
6
votes
2answers
586 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
votes
1answer
201 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
vote
1answer
921 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 ...
4
votes
1answer
3k 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, ...
9
votes
1answer
3k 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 ...
4
votes
0answers
421 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 ...