6 votes
Accepted

Kalman Filter GPS + IMU

This is a complete re-working of the answer I had originally provided. If you're curious, you can check the edit history and see what was posted earlier. In comments to this question, OP stated that ...
Chuck's user avatar
  • 16k
6 votes
Accepted

Why would a drone need a magnetometer? Are an accelerometer and a gyroscope not sufficient?

The main difference between accelerometer and gyroscope vs magnetometer is that first two give only relative information - you may calculate heading relative to your starting position, but you won't ...
mactro's user avatar
  • 953
4 votes
Accepted

Practicality of using magnetometer inside AUV

Mags are used in almost all UAVs. It will be useful and it will be a unique source of information. Adding a some shielding between the mag and your computers and power lines will greatly reduced the ...
holmeski's user avatar
  • 1,853
4 votes
Accepted

Noisy magnetometer data

First, let's look at if your findings seem reasonable given the datasheet specifications for the sensor. For this, I'll assume that Wikipedia is generally correct and that the strength of Earth's ...
Chuck's user avatar
  • 16k
3 votes

Why would a drone need a magnetometer? Are an accelerometer and a gyroscope not sufficient?

A magnometer lets the drone control its geographical heading. It's really the accelerometer that tells direction (not the gyroscope) and, in this case, the direction is down-wards. This provides ...
Biscuits's user avatar
  • 217
2 votes

Adding magnetic field vector to a Kalman filter

I doubt you need to add anything to the state vector regarding the magnetometer calibration. The magnetometer measurement should just be treated at another signal that triggers a measurement/...
holmeski's user avatar
  • 1,853
2 votes

How to create a Complementary Filter for a linearly accelerating body to obtain estimate of orientation in quaternion?

The point of a complementary filter is combine the low-pass parts of some measurements (e.g. accelerometer) with the high-pass parts of other measurements (e.g. gyro). If the accelerometer perfectly ...
ryan0270's user avatar
  • 2,804
2 votes

Why would a drone need a magnetometer? Are an accelerometer and a gyroscope not sufficient?

As other people have said, in a steady-state condition, a gyroscope+accelerometer sensor suite can successfully estimate the roll and pitch values of the UAV, but not its yaw angle. However, there ...
George ZP's user avatar
  • 550
1 vote

Do electromagnets affect magnetometer calibration?

Without knowing the specifics of the sensitivity of your magnetometer and electromagnet, it is impossible to give a concrete yes or no answer. With that, in general any source of magnetic field is ...
mjcarroll's user avatar
  • 1,761
1 vote

Sensor fusion in a metal heavy environment

Heading information from an accelerometer can be inherently noisy due to integration errors. Magnetometers and Gyroscopes can provide additional information to help reduce some of these errors, but if ...
Akhil Kurup's user avatar
1 vote

Gyro yaw drift compensation

Your best would be using the Madgwick filter, as its already implemented in several languages and programs. Yaw, pitch or roll can then be easily called from the filter. Follow the link to a ...
DrMrstheMonarch's user avatar
1 vote
Accepted

How to transform raw accelerometer data into the Earth fixed frame to determine position

There are several questions here, so I'll try to address them all. First, using the integrated gyro output. Integrating the gyro output, which provides angular velocity, gives you an orientation ...
Chuck's user avatar
  • 16k
1 vote

How to add a magnetometer in an Extended Kalman filter for innovation update?

A magnetometer measures the local magnetic field. When assuming that the Earth is the only magnetic source, then this magnetic field should be constant in world coordinates. But the magnetometer ...
fibonatic's user avatar
  • 941
1 vote

Magnetometer Calibration

Interesting that this question has not been answered since it was asked almost 5 years ago. Let me propose an answer and curate it as others comment on it. A magnetometer is designed to detect the ...
st2000's user avatar
  • 506
1 vote

Orientation from magnetometer data

Usually the magnetometer is used to find the yaw. It acts as a digital compass in this case. To calculate roll and pitch you need an accelerometer. But there are some techniques that can be used to ...
Tharindu Suraj's user avatar
1 vote

Practicality of using magnetometer inside AUV

As mentioned in the previous answer, many small, low-cost underwater (and aerial) vehicles use a magnetic compass. You need a good procedure for both hard-iron and soft-iron calibration of your ...
user96966's user avatar
  • 126
1 vote

Kalman Filter GPS + IMU

id recommend estimating position, velocity, and bias in the yaw reading from the imu. You'd assume the yaw bias is a first order system driven by zero mean Gaussian noise. You can also estimate biases ...
holmeski's user avatar
  • 1,853
1 vote

What are the specifications of the digital compass used in iPhone 6S

Typically, and unsurprisingly, proprietary information (to include part numbers, schematics, etc.) is closely guarded by companies. As such, I am not sure how much information you can expect to ...
JSycamore's user avatar
  • 926
1 vote

Quadcopter heading calculation

A GPS unit doesn't give you heading, although it is possible to estimate the heading based on successive GPS readings. Unless you're looking to set and forget the heading, which you shouldn't be doing ...
Chuck's user avatar
  • 16k
1 vote

Quadcopter heading calculation

The habitual way to do this is to have an attitude and position loop for the quadrotor, as in next picture. Attitude loop manages the quadrotor to achieve the desired angles (pitch, yaw, and roll). ...
galtor's user avatar
  • 470

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