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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LSM6DS3 gyro raw to degrees per second conversion error
I am using LSM6DS3 for one of my projects with Nordic nrf52840 along with Nordic SDK. I am trying to read the gyroscope and according to my understanding the gyroscope value should not exceed the full ...
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LSMDS3 accelerometer and gyroscope sensor returns register addresses instead of values on most registers
I use an LSM6DS3 IMU sensor to detect acceleration and turn rates in 3 Dimensions.
I can read the WHOAMI and the measurement value registers. I get correct readings that change in the expected manner ...
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Gyroscope dps conversion
I am doing a data collection using an Axivity AX6 IMU equipped with an accelerometer and gyroscope (BMI160). I am using the OMGUI software to start the collection where I can choose between different ...
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Experiencing Much Higher Data Rate than Timer Interrupt Settings While Reading IMU Data via I2C on Arduino
I am currently using an Arduino MKR ZERO to gather IMU data from three MKR IMU SHIELD boards(BNO055 IMU). I have utilized the <Adafruit_ZeroTimer.h> library to set a timer interrupt with a ...
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Trouble communicating with ICM-20948 IMU over I2C
My setup:
I'm trying to communicate with an ICM-20948 IMU over I2C with a Raspberry Pi Pico, and writing C++ with Visual Studio Code. I have started with the Sparkfun Arduino library for this chip, ...
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WT901 How to make sense of Euler angle
I'm trying to make an angle sensor using the WT901 Attitude Angle Sensor
All I'm looking for is the angle of gravity relative to the Z axis of the device (which I believe is normal to the PCB surface)....
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Why does IMU acceleration bias increase with increase in acceleration?
I am trying to estimate the wheel speed scale factor of a vehicle. I find that whenever the vehicle accelerates rapidly,the estimated speed is lower than the true speed. In other words, I see bias in ...
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Converting accelerometer readings to center of IMU
I recently purchased 3 single axis accelerometers for tracking acceleration of a vehicle.
I have used a box like structure to mount each accelerometer orthogonal to each other ( As much as possible) ...
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How to find gain parameter of complementary filter algorithm for application in navigation
I am using mpu-6050 6 axis Inertial measurement Unit for navigational purpose for tracking orientation and position of a vehicle w.r.t starting point, I am trying to improve the orientation tracking ...
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How do I select whether the LSM6DSOX IMU Sensor uses it's SPI or I2C Interface
I am trying to use the LSM6DSOX IMU sensor which has both an SPI and an I2C interface which are mapped to the same pins. I want to address the IC using its SPI interface
(Datasheet for reference)
In ...
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Tilt Compensated Compass Calibration Issue
I implemented a tilt-compensated compass using an NXP semiconductor app note link: App Note and hard iron calibration algorithm using Article. I am using LIS3MDL magnetometer chip in my design.
I also ...
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Why new/recommended MEMS IMU for AHRS for drones are 6-DOF instead of 9-DOF?
I'm developing an quadcopter as an DIY project.
I'm in nascent stage of development.
I've just finalized the design/working philosophy.
I'm planning to fuse data from 9-DOF (9-Axes) IMU + GNSS + ...
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Do MEMS or optical gyroscope record Earth's rotational and revolutional angular velocities?
I am using a 3 axis gyroscope (Android device) to record angular velocities using a sensor data logger application.
When the device is placed stationary, the gyroscope recorded the following values:
...
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What does Fsync do on MPU6050?
I'm looking to use the 6050 IMU and I am confused on what Fsync does, is it controlled by the host or the MPU 6050 itself?
https://invensense.tdk.com/wp-content/uploads/2015/02/MPU-6000-Register-Map1....
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Raspberry Pi - MPU9250 I2C communication, sensor sends corrupted data
I have a Raspberry Pi 4B connected to a 9 DOF Razor IMU M0 (equipped with a MPU9250 IMU and a SAMD21 microprocessor).
I am trying to echo bytes back to the RPi, however, I seem to be getting corrupted ...
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Why does the data observed on a UART/RS232 bus look different between a logic analyzer and an STM32 Debugger?
I'm trying to communicate with a BNO055 using an STM32L552ZET6Q microcontroller via UART. The BNO055 is on a separate board, and connected to the STM32 via a 1.5M cable. Additionally, there are ...
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Waveshare 10 DOF (C) IMU sensor outputs are inconsistent
I got this Waveshare 10 DOF IMU Sensor (C) from my workplace to use in a project but the demo code given in their site. After I uploaded the code to the Arduino UNO I have, the serial monitor outputs ...
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LRA motor driver activity appears to be corrupting I2C commands to another device
I'm working on a device that uses an STM32L552ZET6Q, two DRV2605L motor drivers configured for LRA PWM output, and two BNO055 IMU units configured for IMUPLUS mode.
Each of the four chips is connected ...
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ASM330LHH didn't work in I2C with STM32 BLUENRG-LP
Here I used STM32 BLUENRG-LP SoC with ASM330LHH. We have the same schematic design in steval-IBD11V2A, like the first image. The second one is our schematic design.
My I2C configuration init ...
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LSM6DSOX IMU sensor: interrupts necessary?
I have a question about the interrupt pin of the LSM6DSOX IMU.
Can the interrupt pin be used to send an interrupt signal to my microcontroller to notify me when the sensor is detecting a change in ...
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How to detect orientation with accelerometer when vehicle has variable acceleration?
According to my research, in order to detect angular orientation, AHRSs use gyros and accelerometers.
Using a gyro on its own does not work well because of integration drift, and only using an ...
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DMU11 IMU data straight from port with Python
This is my first python project away from learning through textbook exercises.
I have no other experience coding so sorry that the formatting is likely horrendous.
I'm using DMU11 form Silicon Sensing ...
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SPI bus termination for variable line length / variable number of slaves
There is a lot of information online for SPI bus termination, but my situation is a little bit different. I have created a system with the intention of 'plug and play' IMUs. Although the main ...
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I2C scan returns more devices than connected
I am using an ESP32 WROOM 32D on a self-designed PCB to read from two sensors:
an IMU (LSM6DSO32) and a pressure sensor (LPS22df).
The IMU reads and writes flawlessly, while the pressure sensor hasn't ...
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What does "full scale" mean in terms of a triple-axis magnetometer?
I'm writing a driver for a QMC5883L triple-axis magnetometer and in the datasheet it specifies "Full Scale" as a configurable parameter which can either be 2G or 8G. I've seen this on other ...
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What is the correct maximum sample rate for the MPU-6500? Most of the internet says 32kHz, the datasheets say this isn't likely
The MPU-6500 is an IMU IC from InvenSense/TDK that superseded the (legendary, by now) MPU-6050 IMU IC. Supposedly, the major performance improvement was that it has a sample rate of 32k samples a ...
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ADC chip for multiple simultaneous conversions
First off: I'm a mechanical engineer. I did do ME218 at Stanford, so I am quite conversant with electronics.
I know that there are basically three types of ADC architecture: sigma-delta, SAR and ...
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IMU for measuring body movement in water [closed]
As a swimmer I have always been curious to use my engineering knowledge in this sport. Specifically I do finswimming like the video I show below :
https://www.youtube.com/watch?v=ckKeR5EVWkk
I would ...
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Simplest explanation of the relationship between gyro bias <> angle random walk (ARW) and accel bias <> velocity random walk (VRW)
We are discussing the errors to consider when using IMUs for navigation. I seem to have a problem wrapping my head around the general concept of the topic and need some help.
I understand that the ...
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How to interpret linear equation of IMU output for sensor calibration
I created a system to measure angle in between two IMUs in 1-axis by getting the difference between their rolls. I then applied a kalman filter that takes into consideration the roll angle and ...
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STM32 I2C BNO055 has big spikes in data in fused mode
I am reading euler angles in fused mode from BNO055 device. It gets correct angles, but there are big spikes from time to time, but only when the values are changing. I am sending data over USB to my ...
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Could hall encoders that are attached to the DC motors affect each other or the IMUs?
I am a newbie and I want to build an autonomous mobile robot. I am planning to use 4 DC motors with hall-effect encoders. I will use 4 IMUs for localization at first. Next, I also have the plan to ...
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Reading timestamp from FIFO in LSM6DS3
I using an LSM6DS3 sensor in order to estimate motion and derive. For this purpose I am reading X,Y,Z acceleration values computing linear acceleration and using a time component to derive speed and ...
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Correct drift from IMU with magnetic sensor
Is it possible to correct the drift from the IMU by setting an external magnetic sensor as the reference point (zero) of the magnetometer in the IMU. For example, tracking the position of the wrist, ...
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Transform linear acceleration from frame of reference of IMU to vehicle
I'm using a 6-axis IMU (accelerometer + gyro) and collecting lateral and longitudinal acceleration (Ax an Ay) when in my car.
But this device (with IMU) is positioned at an angle when plugged into the ...
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IMU gives wrong pitch angle after 70°
I am currently using this library, in particular the Mahony filter within it, for sensor-fusion on an IMU in my diploma project.
The library works great, but I have encountered a problem which only ...
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MPU6050 losing orientation
I've been playing around with an MPU6050 (GY-521 board) with a Nucleo L476RG.
I think I'm reading the gyroscope correctly, but it seems like the values are only changing when the sensor is moving, and ...
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IMU connection to Arduino
I want to connect the LSM6DS3TR-C IMU chip to an Arduino via I2C, but I don't know how exactly to do it properly. What can I do wrong in this wiring diagram?
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Read MPU6050 over I2C with STM32 nucleo board
I am working with a NUCLEO-F401RE board and I want to connect the accelerometer sensor MPU6050 (on a GY-521 module). The device can be connected to the board over I2C.
I connected the 3.3V of the ...
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Why do magnetometer values change when I move PCB?
I have an MPU9250 on my PCB and I use an AHRS system with a Madgwick filter to get yaw angle. But for some reason - I can't get normal Euler angles (SO question). But I guess, I understood why. When I ...
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How to get angles to which a device was rotated using info from an IMU6 sensor (gyroscope and accelerometer)?
I have a device with an IMU6 sensor. When it is laying on the table, the gyroscope and accelerometer data are constantly changing. The values between two measurements are similar, but they are never ...
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How decide which pin right for interrupts?
I would like to ask about I2C sensor's interrupt pins connection to STM32F. I use ADXL345 Ggyro sensor. I would like to connect sensor to STM32F446RE (64 LQFP). But I do not know what I need to know ...
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How does accelerometer calibration work?
Inside a MEMS accelerometer there are some miniature spring-mass structures that displace under gravity or external force (acceleration). These forces are proportional to or can be indirectly ...
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Why does AHRS system with Madgwick filter has so big drift?
I have an MPU9250 on my PCB and I use an AHRS system with a Madgwick filter to get yaw angles. I want to get very accurate and non-drifting yaw angles, but, for unknown reasons, I can't.
I calibrated ...
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Why does yaw return weird values after tilting on a different axis?
I have an MPU9250 on my board and I wanted to change the yaw calculating axis after reboot depending on how this board is placed, like this:
So now i can rotate the yaw counting axis, thanks to the ...
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Why doesn't yaw calculating axis change after board reboot?
I have an MPU9250 on my board and I want to change the yaw calculating axis after reboot depending on how this board is placed, like this:
And I thought it would change if I reboot the board, but it ...
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Want to use SPI sensor in RS485 modbus
I want to use multiple ICM20948 over SPI to RS485 with esp32 . is there anyway to do it and also is there have any other IMU which support rs485?
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Can I measure vibrations with an IMU that has lower frequency than the vibrating object?
I’m using Arduino 33 Sense IMU to measure vibrations and I have tweaked it up to about 400Hz. However, the object (motor) I’m measuring can have a vibration frequency of up to 10kHz.
My question is; ...
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Sensor fusion in a metal heavy environment
I am trying to get heading information of a forklift. I've designed a small PCB for this purpose. This PCB has a 3 axis magnetometer and a 6 axis gyroscope-accelerometer (Z- axis looking towards the ...
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Problem with GY-521 module with chip labeled "MPU-6050A"
I recieved this module. Which not woriking with my Arduino code (MPU-6050 example form Adafruit).
I test many things and find out that the problem happen with this version like 4 of them (my old ...
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