Questions tagged [imu]

IMU is an abbreviation for Inertial Measurement Unit, a system composed of three orthogonally mounted accelerometers and three orthogonally mounted gyroscopes, which may be used as the basis for inertial navigation systems, orientation measurement systems, or platform stabilization systems.

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IMU 10 DOF (D) dimension

I got the dimension of the 10 DOF IMU model D on the internet. I wonder what is the dimension from the left to the center of the hole of the header pin. Besides that, for this type of header pin, the ...
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164 views

IMU BNO055 Alternative?

For a robotic application, we bought Adafruit boards of the very popular BNO055 IMU. We can still buy plenty of these modules, but it seems the BNO055 chip itself is unavailable. It even disappeared ...
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Made a mistake of connecting pin-1 NC of MPU6500. Will it affect my pcb?

Yeah I made a mistake but the pcb is on the way and I cannot cancel it. I mistakenly connected the pin-1 NC of MPU6500 to VDD(Yeah even bigger mistake). So anyone who has worked with MPU6500 know if ...
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9-axis IMU for weighing on a boat with varying sea conditions

I am brainstorming on how to do relatively accurate weighing scale for fish on a boat under different seastate conditions. I know other companies use a second load cell together with calibration data ...
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Is my magnetometer calibrated correctly?

I am calibrating the AK8963 on the MPU9250. The first plot shows original mag readings and the last plot shows readings corrected for soft and hard bias. I am following the guidance of Kris Winer: ...
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STM32F410RB is not outputting the WHOAMI register value of slave MPU9250/6000

Note: I am beginner :) I am trying to read the WHOAMI register in the MPU9250/6000 using i2c communication on STM32410RB Nucleo board MCU. I am using ...
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39 views

Implementing IMU, help with neccessary components?

I am looking at making a schematic for the ISM330DHCX alongside a ATmega328P processor for Arduino. I have the Adafruit version of it (LSM6DSOX is same footprint). Schematic: PCB: I just wanted to ...
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Low-pass filter for IMU accelerometer data

I am using Labview to get data from an IMU and I need to filter the data since it is noisy. I am using a low-pass filter but the filtered data is less than the measured data (the acceleration was 10 ...
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49 views

I2C connection randomly dies with error 4

I am trying to interface an ESP8266 microcontroller with an ICM-20948 IMU chip. Using the reference code from Invensense, the internet and trial and error, I managed to configure the chip do do 9-axis ...
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28 views

Could madgwick be a math error in the c # example?

We gave the same input data to C# and Matlab examples. The values ​​on the quaternion outputs were different, although their inputs were the same. These examples can be downloaded from Madgwick ...
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Magnetometer hard iron / soft iron calibration-compensation

I have real magnetometer data captured by BMX055. I deployed an hard-soft iron calibration code (magcal) on this data in Matlab. Here is the code: ...
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166 views

IMU Madgwick filter pitch effect on roll and yaw

Using even Madgwick provided raw data, algorithm gives inaccuracies on roll and yaw when only pitch angle applied. This is also valid for our data which is collected with BMX055. We apply only pitch, ...
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40 views

Unexpected MISO signals from LSM6DS3

I keep getting an odd result from an LSM6DS3 (common IMU device) and I'm not sure where else to turn. I have it hooked up to an MCU (nordic nrf52840, not that it matters) and I see my clock signals, ...
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297 views

ICM-20948 with DMP can't find its own compass

I am interfacing to the Invensense ICM-20948 9-DOF IMU chip using an ESP8266, and a 1.8V level shifter & regulator, which works fine. I am trying to get quaternions from the internal DMP using ...
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Drift with Madgwick algorithm with fast movements

I am trying to correctly track orientation of a sensor with accelerometer and gyroscope using the open source Madgwick algorithm. The algorithm returns quaternions which represent the rotation between ...
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43 views

IMU fusion data rate

For an trajectory estimation project using BMX055 IMU, it looks like all 3 sensors(acc,gyro,mag) inside the IMU have different and unsync data rates. Accelerometer provides 7.81, 15.63, 31.25, 62.5, ...
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MPU9250 IMU wearable design considerations and device address problem

I need to use 12-16 mpu9250 IMU for wearable design. Each IMU will be placed different places on the body. Therefore, I want to read data from each device by using I2C interface. However, problem is ...
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51 views

BHI160b driver usage

i am trying to read quaternion's out of the BHI160b, that's why i purchased the BHI160b shuttle Board from Bosch. I want to connect it with my NUCLEO-L053R8 from STM. So i implemented the library into ...
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38 views

Control register of magnetometer in MPU-9250 reseting itself

I want to read magnetometer outputs from the MPU-9250 sensor (Datasheet, Register Map) but the CNTL1 Register (0x0A) of the magnetometer resets for certain values. I configured the sensor properly so ...
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24-bit auxiliary sensor interfaced with ICM-20948 IMU

I am trying to interface the ICM-20948 IMU (https://invensense.tdk.com/products/motion-tracking/9-axis/icm-20948/) with the ADS122C04 ADC (https://www.ti.com/product/ADS122C04). To collect data, my ...
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33 views

What changes when you modify gyro/accelerometer/magnetometer range?

In hobby-grade MEMS IMUs and MARGS such as MPU-6050, you can change certain registers on the chip and modify the sensor's range. For example 2 g or 8 g for an accelerometer. Of course, because the ADC ...
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60 views

What does ST mean with “Temperature Offset” for the temperature sensor in their IMUs?

When reading the datasheet of the LSM6DSO32 IMU I noticed on p. 29 the characteristics of the integrated temperature sensor (see screenshot below): The sensor gives a digital reading of 0 for a ...
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59 views

What is the meaning of Output data rate of Bosch BMI270?

what is the meaning of ODR (output data rate) BMI270 says it has 1.6kHz for accelerometer ODR does it mean internal registers update rate is 1.6kHz or 1.6kHz/(16bit x 3) = 33Hz ? (here 3 is, 3 ...
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25 views

How to calibrate any magnetometer when sensor is changing the location?

I found magnetometer calibration is done for soft/hard distortions also for tilt compensation using gyro data as well, but all of them perform for know step of the procedure (rotating aligned with ...
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336 views

Where the ICM20948 DMP memory is stored?

In Invensense ICM20948 motion sensor they mention The DMP in ICM-20948, therefore, has higher memory for code storage Hence, the AP/MCU must accommodate higher memory required to hold the DMP image ...
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35 views

Is it possible to control MPU6000 with Maxon controller Board? [closed]

I am developing a robotic wrist in which I have two DC Motor+encoder pairs connected to a Maxon Escon Module 50/5 each. To control that the output of the wrist is correct, I want to place an IMU unit ...
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46 views

What are the general guidelines to configure IMU sensor parameters?

Im working on developing a Attitude and heading reference system (AHRS) for my quadcopter project. Im working with AltIMU-10 v5, it is 10 DOF (gyroscope,Accelerometer,Compass,Altimeter) IMU board. ...
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61 views

MPU 6050 accelerometer generating gaussian noise with strange gaps

I was using an GY-521 accelerometer/gyroscope module in order to provide inertial tracking. The GY-521 interfaces with an Arduino which sends data over a serial connection. I convert these values into ...
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203 views

what is I2c address of BNO055?

I made a custom circuit with bno055 it shows i2c address 0x70 is it possible? I used the Arduino i2c scanner. I am not getting any data aswell nothing else is connected to Arduino nano board as well,...
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37 views

IMU sensor suddenly outputs only a fixed value

Description of the situation I am calculating the angle using BMI 160. Intermittently, the sensor's value is fixed. I've tested it in certain situations, but each of them happens in a different test ...
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56 views

Sensor fusion using IMU sensor

How to do the sensor fusion using the 4 IMU sensors. Here, 4 IMU sensors are used to know the location of every point where the IMUs are placed? I need the location of the every point on a 3D graph ...
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Looking for gyroscope drift spec in datasheet

The product page of the BMI088 IMU makes the very impressive claim The automotive-proven gyroscope of the BMI088 has an unmatched bias stability of less than 2°/h However, I can't find this claim ...
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Mount position inertial measurement units (IMU)

currently I am reading about IMUs and got confused about the mounting position of the IMUs. In this paper (https://pdfs.semanticscholar.org/c2b6/9d5f4cf0fbbbad97d1fc10b3757f9c41bb8f.pdf) , the ...
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96 views

How can you estimate the final position of a gyroscope graphically?

A Smartphone is initially in the position indicated as follow We move it, and get the next gyro reading. How can you estimate your final position graphically?
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59 views

Gathering accelerometer data over I2C not updating every 1 ms

I am using an STM microchip to communicate with an IMU over I2C. I am requesting 3 axis of acceleration information from the IMU (x,y,z). I have the ODR Selection frequency set at 1.66 kHz. Currently ...
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How is Gyro drift error related to error in velocity and position?

While reading about IMU on wikipedia I found this about its disadvantages: "A constant error in attitude rate (gyro) results in a quadratic error in velocity and a cubic error growth in position." ...
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What actually causes gyroscope drift in IMU?

I've been researching online to understand how to get gyroscope data from the MPU-6050 which is probably one of the most popular IMU's out there. But i am confused over the reason why the gyroscope ...
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102 views

Implementing Honeywell IMU

Want to start by saying I'm a mechanical/aerospace engineer, and I'm fairly out of my depth here. My current project is on a load-testing rig. Ultimately, it will use a Honeywell HG1120 IMU to give ...
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How does the timing of the MPU9250 works?

I am using an MPU9250 in my project and I am struggling with the timing domains of the various sensors. Let's say I have the magnetometer ticking at 100Hz, the Gyroscope at 32kHz and the accelerometer ...
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106 views

Quarternion disagreement between two BNO80 IMU

I'm trying to use two BNO80 orientation sensors to measure the deflection of a universal joint in both pitch and yaw (there are components in the way that prevent the use of rotary position sensors). ...
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399 views

Serial Peripheral Interface (SPI) vs Two-Wire Interface (TWI, I²C) wire length

I'm using Arduino DUE to read data from an IMU(inertial measurement unit) sensor (MIKROE-1577, MPU-6000) This IMU sensor supports both Serial Peripheral Interface (SPI) and Two-Wire Interface (TWI, I²...
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Gyroscope drift in IMU

So, a brief foreword. I'm not sure if this question belongs here or in the DSP community, its closely related to both, but I have a feeling this will be more of interest here nonetheless, so I am ...
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328 views

ESP8266 sleep current is higher than it should be [closed]

In short: Despite setting my datalogger IMU to SLEEP and going to deepSleep(0) on the ESP without any other IC peripherals besides the buck converter and 2 deactivated LEDs, I still measure 2.5mA ...
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Measure relative position between two IMUs

I'm trying to create a system where I need to measure the relative orientation of the edge of the arm with respect to its base: The apparatus will be like in the diagram above. To measure the ...
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How to do IMU and camera “sensor fusion” tracking?

I have some 50ms latency cameras on hand and an gyro+accelerometer+magnetometer 800Hz IMU. I would like to know how exactly I should do a sensor fusion of such an IMU and camera to fix the positional ...
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492 views

how reliable are IMUs for a long usage (6 hours) rotation (only) tracking? [closed]

I know they are bad for positional tracking and drift from actual position over time but would like to know what is the situation with rotation only. I know Oculus DK1 used ordinary off the shelf ...
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244 views

LSM9DS1 accelerometer with too many aux pins. Which ones are actually useful?

I'm designign a board with an LSM9DS1. I have an SPI bus (with only this device connected), two gpio for the chip selects (it has two CS, one for gyro and accel and the other for the magnetometer. ...
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858 views

Double Integration with the BNO055 for position data

I am trying to get position data(x, y, z) from the BNO055 IMU from adafruit. I have been given a library in java, so I can communicate with the IMU. I have been able to get heading, yaw, pitch to +/- ...
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Calculation of Euler angles. But gets a change (delta) in change and not a constant value

What I've done will now: I'm using an IMU (MPU6000) to calculate the Euler angles of an object and for this, I'm using Madgwick AHRS algorithm. The MPU gives acceleration due to gravity (a) about the ...
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How to connect a 4-pin OSC (crystal oscillator) to an IMU (BNO055) with only 2 pins dedicated to an external clock?

I am using the BNO055 : https://cdn-shop.adafruit.com/datasheets/BST_BNO055_DS000_12.pdf and I can't seem to figure out how to connect a standard external oscillator clock to the chip. As suggested, ...