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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

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Android IMU from uncalibrated to calibrated algorithm

I was wondering, how does android makes its calibration on IMU sensors (Acc_calibrated, Gyro_calibrated), I know that there is an intrinsic calibration for temperature that happens in calibrated and uncalibrated versions (its chip based), but I want…
Sait
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How to calculate process noise covariance matrix Q and measurement noise covariance matrix R in kalman filter

I am working on fusing GPS and IMU sensor measurement to calculate position in x and y direction. In this process I am not able to figure out how to calculate Q and R matrix values for kalman filtering. Some details of implementation GPS coordinate…
babyCoder
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How convert GPS Latitude/longitude/altitude to Cartesian coordinates?

I get my robot's location from an IMU's GPS sensor. It outputs the robot's location in latitude, longitude, and altitude format. Latitude and longitude are in degrees and altitude is in meters and it is elevation from sea level. I want to convert it…
CVDE
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How to calculate rotation matrix for an accelerometer using only basic algebraic operations

There is a C function that gets the acceleration values of x,y,z of an accelerometer sensor (MEMS IMU) as input, and calculates the rotation matrix in a way that the z axis is aligned with the gravity. It is being used for calibrating the…
XExplo
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how to handle vehicle speed and wheel angle covariance in a kalman filter

When fusing IMU, vehicle speed, and wheel angle, I am having trouble converting vehicle speed and wheel angle covariance to system state covariance. I am using a Kalman filter to fuse the readings from an IMU and a vehicle. IMUs provide linear…
Ahmed Sobhy
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How to turn Turtlebot3 90 degrees using IMU feedback in Python?

I want to turn turtlebot3 90 degree left turn using the feedback from the IMU sensor , is it possible I've done 90 degree turn using Twist message itself , but I want to confirm that our turtlebot3 turned 90 degree using IMU data #!/usr/bin/env…
loveson vashikaran
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imu&camera calibrate runtime oveor::The time sequence must be nondecreasing. time 5 was not greater than or equal to time 4

i just use the kalibr to caliibrate the imu and camera. my imu is the ttl-485 wit HWT905-485,just one request and one answer. first i just record a rosbag by subing the /imu and /usb_image_rect_raw.and one is 150hz another is 4hz. second i can…
王铭涛
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georeferencing a trajectory from inertial sensors (IMU)

There are data from tracking a moving object based on inertial measurement unit (IMU), using sensors like accelerometer, gyroscope, magnetometer. From these data (by sensor fusion) is generated a trajectory (polyline) and rendered into…
Vill
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EKF pose estimation never matches up

Using the EKF filter from the python AHRS library I'm trying to estimate the pose of the STEVAL FCU001 board (which has has the LSM6DSL IMU sensor for acceleration + gyro and LIS2MDL for magneto). However the attitude simply never matches up even…
Wannes
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Increase Frequency of IMU Sensor

I am using an IMU sensor in gazebo. I want to change the frequency of the IMU but it does not change. I changed IMU update_rate also max_step size but there is no difference. Actually, the IMU frequency does not exceed 25 Hz. I want it to be 80…
koray
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which parameter in datasheet I can put in measurement noise and prosess noise (Q and R) for attitude estimation (noise density)?

I recently design my first EKF Algorithm for my drone project for attitude estimation, I am too much time confusing, about which value I put in Q and R Matrix in the real world. I use bmi088 IMu, In the IMU datasheet I see noise density, I know Q…
user3106378
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Clamping local rotation from quaternion input along Euler axis without transforming to actual Euler Angles

I have an avatar whose body parts are rotated by using Quaternions which come from IMU sensors. The the axes of the sensor and the GameObjects of the body parts are aligned and the movementin general works. I only have problems introducing angular…
paule3000
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Interpretation of IMU-Data for position tracking

Is it possible to track the position of an object in a reference coordinate system with an INS? if yes what is the correct approach in doing that?
nikki
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How to get absolute pose of the mobile robot using 2D Lidar scanning 360 degree and IMU?

I would like to get the absolute pose of the mobile robot using 2D Lidar scanning 360 degree and IMU. I would to develop algorithm to estimate the lateral position and heading angle of the robot. So the algorithm will includes following…
Bob9710
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Get Angle of Rotation over X Axis Between Quaternions

I am using a BNO055 to get quaternion values. I want to get the rotation quaternion between quaternions and extract only the rotation over the x axis. I am starting at a initial position (The x axis of the sensor aligned to the edge of a table) and…
Bryan Medina
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