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Questions tagged [imu]

Use the IMU tag for questions about writing software that interacts with Inertial Measurement Units.

An inertial measurement unit (IMU) is an electronic device that measures and reports a body's specific force, angular rate, and sometimes the magnetic field surrounding the body, using a combination of accelerometers and gyroscopes, sometimes also magnetometers.

IMU Wikipedia page: https://en.wikipedia.org/wiki/Inertial_measurement_unit

154 questions
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Align acceleration data via gravity to one axis

I have some acceleration data collected from a bike ride. It still has gravity in it because I want to align the z-axis of my phone to the z-axis of the real world. The phone was mounted nearly parallel to the ground. (The other two axis don't have…
bennnil
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How do I think about rotation in the physical and virtual world?

I have a couple of IMUs (rotation devices), I'm trying to attach them on fingers and make a glove. I get confused because I don't have a good way to think about rotation in the physical and virtual world. Right now, the way I'm thinking about it is…
off99555
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What are some good resources to learn about sensor drift correction for the IMU?

I am building a glove with IMU units on the tip of each finger, and one IMU on the palm. What I get from the IMU is the quaternion measurement. Right now I'm facing 2 problems with the IMUs' measurement: The IMU's reference frame is not the same.…
off99555
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Determine new GPS position using roll, pitch, yaw and length

I'm using a Reach RS+ device to capture GPS position data as well as IMU data (roll, pitch and yaw); see the "Point Collection" image on the manufacturer's website. I'm trying to determine the GPS coordinates of the bottom point (the empty end of…
Ionut Ticus
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Drift of Madgwick algorithm and MPU9250 sensor?

For my project i need a way to determine correct orientation of the rocket. I took code for Madgwick filter from here https://github.com/morgil/madgwick_py for collecting data i used Arduino Nano + MPU9250 sensor. This setup sends packets every…
Rocketman
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How to correct the drift in MPU9250 IMU using DMP MotionApps v4.1

I'm trying to provide a visual orientation of a device in 3D using Qt. For this,I have integrated the DMP MotionApps v4.1 for a MPU9250 and obtained the Quaternion values from the MPU's FIFO register. This works perfectly fine. But when the device…
jxgn
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MPU9150Lib and gimbal lock?

I'm currently using the MPU9150Lib on my Arduino project to read data from my IMU (of course a MPU9150). It works great so far. But I noticed some small glitches sometimes. I think it's a gimbal lock problem. When I look at the library, it seems…
Meerpohl
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run ADIS16465-1BMLZ on raspberry pi 4 with kuiper linux

How can I save data from ADIS16465-1BMLZ on raspberry pi 4 with kuiper Linux in a .CSV file for a specific period, let's say 5 minutes? Is this achievable? I connected the ADIS16465-1BMLZ module to the Raspberry Pi 4 using the EVAL-ADISIMU1-RPIZ…
Ali Taheri
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Integrating IMU accelerometer data to estimate position

I am trying to estimate position change using an MPU6050 IMU. I know that drift is a problem, but I am only trying to do this over short periods of less than a few seconds. I've adjusted for gravity using sensor fusion madgwick filter and after…
Paulius Velesko
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Error using element_type has no member named ‘imu’, what can be?

I created a C++ ROS2 node that uses sensor_msgs IMU. Included the sensor_msg in the header file, also declared the IMU sensor message. Still nor really clear the error that comes. When build it I got error: error: ‘using element_type = const struct…
Bob9710
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Reading SPI gyro values from IIM-42652

Has anyone on here ever used a IIM-42652 before? I am trying to communicate to it but have trouble reading gyroscope values. I have verified all the SPI signals on both MISO and MOSI lines, alongside all specified SPI communication and timing…
bittabuket
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Arduino/ESP32 loop execution time "stuck" at 80ms

I'm trying to build a quadcopter flight controller from scratch using an ESP32, BNO055 IMU, and Turnigy TGY-i6 Transmitter/Receiver. So far I've been able to get everything to work together and give me reasonable data using PID control loops,…
WhyF4
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how to read the data bytes of a packet?

I would like to extract each time the data bytes of my IMU data which are in the following form: "5555 41321e7fea02a2efb400010005fffe00d6fff90cbb261926192619006692340000bf5f" I would like to make sure that the data received header 0x5555 , because…
sam
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How to send data in hex on SerialPort

How to send data in hex on SerialPort? I used this function, I receive the "yes, I can write to port" but I do not receive the data I entered QByteArray send_data; if(serialPort->isWritable()) { qDebug()<<"Yes, I can write to port!"; int…
sam
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Integrating a Angular speed on a ROS subscrriber Node

I am trying to read and compute the integral of two quantities, Linear speed and Angular speed. But for some reason, the orientation integral has a large offset, something of order of 6000000. Given that the loops are only called when the data is…
A.mir
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