155 questions
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49
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„Why does my ICM-42688-P always read the same AX/AY/AZ values on PSoC (LED never changes)?“
I am using a PSoC 5LP together with the 6DOF IMU 14 Click (ICM-42688-P) from MikroE.
The IMU is connected via I²C, address 0x68, and the WHO_AM_I register correctly returns 0x47, so the sensor is ...
- 11
0
votes
0
answers
116
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ESP32 micro-ROS RPLIDAR N10 + MPU6050 publishes /scan & /imu/data_raw but SLAM Toolbox shows “No map received”
I’m building a handheld mapping setup with:
ESP32‑WROVER‑E running micro‑ROS
UART2 → RPLIDAR N10 → publishes /scan (sensor_msgs/LaserScan)
I²C → MPU6050 → publishes /imu/data_raw (sensor_msgs/Imu)
...
0
votes
0
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200
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Problem with the Pitch and Yaw data from IMU ICM20948
I'm having a problem on the yaw angle. The Roll and the Pitch are behaving correctly with values between -180° and 180°, but the Yaw gives me values between -25° and 30° and usually if I stop the ...
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0
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81
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Bluetooth connectivity issues when connecting multiple Muse IMU devices with Python/Bleak
I'm currently am using python with bleak and I'm finding it difficult to connect and maintain a stable connection to multiple Bluetooth enabled imu devices (muse), especially when trying to connect ...
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0
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33
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Issue with Magnetometer-Based Quaternion Heading Using Madgwick Algorithm
Currently, I am calculating quaternions using the Madgwick algorithm, incorporating magnetometer values. I have tried the code provided in Madgwick's original paper and also the implementation by Kris ...
1
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0
answers
56
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IMU Data Integration for EuRoC Dataset in Python
I'm trying to derive the pose of a drone (x, y, z, roll, pitch, yaw) using IMU data in the form:
(timestamp, Angular Velocity X, Angular Velocity Y, Angular Velocity Z, Acceleration X, Acceleration Y, ...
- 11
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1
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76
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When using two sensors at the same time in an embedded system, I want to prevent performance loss
Currently, I am using the mpu6050 and uhf rfid module simultaneously on the lolin d32 pro (esp32) development board.
MPU6050 has a sampling rate of 100hz. I hope RFID also has a sampling rate of at ...
- 11
1
vote
1
answer
77
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Kalman Filter Velocity data looking too similar to position data
Creating a Kalman filter on Matlab that intakes Accelerometer and Angular Velocity measurements from phone IMU sensors, and filters it, then calculates the position and velocity. My question is on if ...
- 11
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1
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144
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ROS2 Node Publishing GPS Data Drifts Out of Bounds After Several Seconds
ROS2 Node: GPS and IMU Data Publishing - Position Drift Issue After Initial Accuracy
I'm developing a ROS2 node that reads GPS and IMU data from a file and publishes it to various ROS2 topics (...
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0
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45
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Compensating IMU orientation
I have an IMU sensor giving me a normalized quaternion for its orientation. However this quaternion does not match the coordinate system that I want to use. For example, the roll and the yaw axis are ...
- 11
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0
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18
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Need to get the head guesture from the gyrometer values and accelerometer values from the IMU sensor
I am getting ABS_X ,ABS_Y and ABS_Z vales of gyrometer and accelerometer respectively
I am confused about this equation could you please explain how u will do the calculation if I give the below as ...
- 31
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0
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597
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Convert IMU data into trajectory data
I am using IMU data in the next format :
[![enter image description here][1]][1]
Here is the whole file : https://github.com/badiaamakhlouf/Awesome_Dataset/blob/main/digit7.csv
I want to extract ...
- 417
1
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0
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481
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Simulating Gyroscope with ARW, BI, and Spectral Density Using Physical IMU Data
I'm currently working on a state estimation project that relies on IMU data. While I have access to a physical IMU, I'd like to simulate gyroscope data with specific parameters, including Angle Random ...
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-1
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1
answer
147
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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 ...
1
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0
answers
1k
views
micropython qmi8658 exposing the AttitudeEngine quaternion
I'm trying to expose the AttitudeEngine quaternion on the QMIi8658 mentioned in the documentation. It's part of the WaveShare RP2040-Touch-LCD-1.28 module. Their original demo sketch exposes the ...
- 715
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votes
2
answers
2k
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How do I 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 ...
0
votes
1
answer
261
views
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 ...
0
votes
2
answers
674
views
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). ...
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0
votes
1
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494
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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 ...
- 13
1
vote
1
answer
237
views
PID using Axis-Angle or Rotation Matrix
I went through euler angles and I understood it is prone to Gimbal locks at certain angles. This worries me and might cause failure in my robot.
I learned that Axis-Angle and Rotation Matrices are ...
- 11
2
votes
0
answers
635
views
Getting CHIP_ID from BMI_270 using SPI Interface from Arduino IDE
Fundamentally I'm trying to extract Accel and Gyro values from the sensor using SPI interface. However there are limited support for BMI270 available online, so I'm now reading the values using ...
- 43
1
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2
answers
1k
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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 following
quaternion_angle_1=tf.transformations.quaternion_from_euler(roll_1,pitch_1,yaw_1)
quaternion_angle_2=tf....
- 307
0
votes
1
answer
112
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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 ...
- 21
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0
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66
views
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 ...
-1
votes
1
answer
599
views
How to check the IMU output angels are correctly in robot coordinates? [closed]
I have created ROS package and integrated with gazebo simulation. So also have IMU ROS driver and can check the ros topic from both side( ros package and gazebo ) correspond accordingly . So with ros2 ...
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