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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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How to reconstruct the trajectory of a point from linear acceleration and angular velocity data?

I have generated two text files that hold the values for linear acceleration and angular velocity of a point, moving along a trajectory. The data is not from a device, but created by me. The code below extracts the data and assigns it to lists. How…
SvylantisCPU
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How to open IMU and GPS data from previous flights in robot_localization ROS2?

how to open imu and gps data from previous flights in robot_localization package ROS2? I have an IMU data from VN200, gps data from HERE3. I want to pass data through robot_localization Kalman filter. My goal is to compare data from…
reinzler
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How do I calculate the maximum sptio-temporal resolution of an IMU sensor?

I am trying to calculate the trajectory of an IMU sensor by integrating the acceleration twice, but I keep getting distorted data. I would like to know what is maximal resolution I can actually produce from this sensor (MPU9250). The sensor is…
Itay Pachelbel Jacob
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Filtering estimates of the orientation using optimization

I am trying to implement Algorithm 2 (p.38) from Kok et al. 2017, for calculating G_{t-1}, I need R tilda. It is explained as "a linearization point parametrized either as a unit quaternion or rotation matrix R tilda and an orientation deviation…
neak
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How to calculate the angle between Quaternions

I have two IMU sensors giving me Euler angles. I convert them to Quaternion by…
Mubahsir
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VectorNav 100 trransfer data to another esp32

I have vn100 (VectorNav 100 IMU), 2 esp32 wroom with wifi/bt. At the end, I want to get the data from vn100 and transfer it to esp32 that is not connected to the vn100.So what is needed: Vn100 connected with wires to esp32 wroom with wifi/bt, lets…
Mario Jammal
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syncronizing frame capture with imu sensors

I am using a Jetson Xavier NXto capture frames from a USB camera using OpenCV. Then I implement a KCF tracker on the captured frames to track a certain object. In parallel I am sending the tracking data to an ESP32 capturing IMU data from an…
KTBM
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How to wrap events in the image plane using the the Rodrigues rotation algorithm?

I´m trying to replicate the ego-motion compensation done by the article "Dynamic obstacle avoidance for quadrotors with event cameras". I have the Imu data (only 3 angular velocities rad/sec: gx, gy, gz) and the events data (timestamp, coordinate x,…
João Pedro Paulo
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How to detect orientation with accelerometer while vehicle has variable acceleration?

According to my research, I saw that, in order to detect the angular orientation AHRS uses gyro and accelerometer. Only gyro does not work well because of integration drift. Only accelerometer also does not work because of vibrations and vehicle…
Mert Celik
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Record CSV data being streamed over a UDP port from a smart phone in Python

So I am starting to learn robotics and how to work with sensors. As one of my first lines of effort, I am attempting to learn about calibrating Inertial Measurement Units (IMUs) and working with their data. To do so, I want to collect some data from…
AI Spy
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IMU/MEMS with high limit accelerometer and magnetometer

anyone know of an IMU sensor. Price range of 5-17$. That has a high accelerometer value of 50-200g and a magnetometer to measure the the Earth's orientation. Update on mag and acc need to be 100Hz or higher. I know i kan get one imu for each but i…
Daniel Fjeld
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Does RTAB-Map ROS have GPS and IMU support? (ROS Noetic)

I was searching for GPS and IMU support on RTAB-Map, and I guess it does have from some papers I read, however on the official package documentation http://wiki.ros.org/rtabmap_ros no GPS or IMU related topics are documented. I did find a question…
Carlos Tojal
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Simulate GPS IMU With Quadcopter Swarm?

I have multiple drones work in swarm formation, i made the quadcopter model and the swarm one. Until now i have the swarm moving in a formation leader-follower and track a predefined trajectory based on PID Controller. What i need help is how to add…
jack abraham
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EKF loop rate vs IMU sensor rate

I'm just exploring pose estimator from asynchronous sensors example in Matlab and I'm able to run the simulation and also in my controller as well. I have some question that predict function should be called with IMU sensor data rate or simulation…
saikat mondal
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Windows com port communication in C

I want to connect an XSENS IMU via a usb serial port to a PC and get its data in CANape, for this i am supposed to use DAIO, CASL for CANape and SDKs. But unfortunately I do not know where to start and how to proceed. Can anyone guide me how to do…
geekfreak92
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