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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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Parsing LSM6DSL raw values

I'm trying to parse the values given from a device with a LSM6DSL chip (gyroscopic and acc.) and I'm having a hard time parsing the data properly for positioning and angle. From the vendor I've received the information that the unit is running on a…
DevionNL
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What sensors does ARCore use?

What sensors does ARCore use: single camera, dual-camera, IMU, etc. in a compatible phone? Also, is ARCore dynamic enough to still work if a sensor is not available by switching to a less accurate version of itself?
caansnews
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Getting 3D Position Coordinates from an IMU Sensor on Python

I am planning to acquire position in 3D cartesian coordinates from an IMU (Inertial Sensor) containing Accelerometer and Gyroscope. I'm using this to track the objects position and trajectory in 3D. 1- From my limited knowledge I was under the…
Osama_Robotics
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Why does yaw angle goes away when I move controller?

I have an MPU9250 on my PCB and I use an AHRS system with a Madgwick filter to get yaw angle. I took source code from here: https://github.com/sonphambk/MPU9250/tree/master/Src and changed there MadgwickAHRSupdate function as someone said here:…
crackanddie
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how to get Heading direction from raw IMU Data?

I have some raw data which accelerated and rotated in each axis(x, y, z). but I don't know what axis is gravity direction. Depends on each object, I can't figure out which direction the IMU is installed. Sometimes the x-axis is the direction of…
sara
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What does the full scale range in a IMU MPU9250 datasheet signify and which is better to use?

I have MPU9250 IMU, which I am working on to get orientations from the sensor output data. While exploring the MPU9250 (also other sensor such as BNO055) datasheet I came across the full scale range for accel & gyro given as ±2 ±4 ±8 ±16 (g) and…
TheLazy
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Figuring out orientation of IMU using accelerometer and magnetometer

I have an IMU, and I am trying to obtain the orientation of it using just the accelerometer and magnetometer. I am using the gravity vector returned from the accelerometer and the vector returned from the magnetometer and finding their cross…
GGamer
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IMU Orientation constantly changing

We have XSENS MTi IMU-Device and use the ROS-Framework (Ubuntu / Fuerte). We subscribe to the IMU-Data and all data looks good except orientation. In Euler-Outputmode like in Quaternion-Outputmode the values are constantly changing. Not randomly,…
Sebastian Müller
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How to correct (removing bias) IMU data from accelerometer and gyroscope measurement?

I am currently working on a mission to fuse GNSS and IMU for a more accurate navigation system for autonomous vehicles. I am very familiar with using GNSS to get the accurate position, however I'm a newbie in using IMU sensor. I've read several…
risains878
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IMU velocity estimation

do you know maybe where I can find code or example for velocity estimation from IMU (acc+gyro+magnetometer) data. I calculated biases from data where IMU stands still. I want to implement velocity estimation with some kind of filter…
aguero
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Kalman filtering IMU noise c#

I have the following problem. I would like to remove the noise from an IMU sensor. My clue would be a Kalman filter. In the Arduino IDE you could easily implement one via library. Now I would like to solve this by C# directly on the computer but I…
Semi
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How to minimize the error integrating 3D angular velocity data obtained by the IMU to get linear velocity?

have IMU sensor that gives me the raw data such as orientation, Angular and Linear acceleration. Im using ROS and doing some Gazebo UUV simulation. Furthermore, I want to get linear velocity from the raw IMU data. So the naive integration method is…
Bob9710
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Trouble with PySerial read

I'm trying to read data from an Arduino serial monitor, but I'm having problems with pyserial's readline function. Here's the simple code which prints to the monitor: void setup() { Serial.begin(19200); } void loop() { …
Jonathan Lee
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Calibration of magnetometer attached to a vehicle as Figure 8 calibration isn't possible in such scrnaroo

I was trying to find a way to calibrate a magnetometer attached to a vehicle as Figure 8 method of calibration is not really posible on vehicle. Also removing magnetomer calibrating and fixing won't give exact results as fixing it back to vehicle…
230490
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Accurately converting IMU angular velocities into a quaternion

Given three angular velocities vx, vy, vz about the x, y and z axes, measured in radians per second, as derived from an IMU's rate gyro, how do I produce an equivalent quaternion for the entire rotation between one sample and the next, i.e. the…
Luke Hutchison
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