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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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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30 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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33 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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33 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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21 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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51 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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32 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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17 views

How to select a proper IMU sensor to mount on leg?

This may not related to electrical, but an IMU sensor involved i am posting this, I need to select an acceleration sensor to mount on the leg (ankle) to track acceleration and movement of the leg, I ...
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40 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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31 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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41 views

How do I correctly calculate my magnetometers hard iron bias?

Im using a LSM9DS1 9DOF IMU and I want to calibrate the magnetometer. Im reading the raw data, saving the min/max values for each axis while rotating it for like a minute across each axis. I calculate ...
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95 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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36 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 ...
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45 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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69 views

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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48 views

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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84 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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54 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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56 views

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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1k views

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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88 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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96 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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228 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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201 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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188 views

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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564 views

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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361 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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202 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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633 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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269 views

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, ...
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2k views

How to choose a cut-off frequency by interpreting FFT

I have a question concerning low pass filtering of IMU acceleration and gyro data. To choose a reasonable cut-off frequency, I thought about making some observations in the spectrum. Now I have some ...
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91 views

How to improve AHRS algorithm

I'm currently working on a project with multiple IMUs mounted on moving vehicle estimating their pose. I've just read about AHRS algorithms. So I have two questions about them: Since my data is pre-...
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1k views

MPU6050 showing inconsistent angle values

I'm using this Arduino code to calibrate and read from an MPU6050 accel/gyro sensor from an Arduino Mega. The calibration and reading of values seemed to go well. However, I'm seeing some ...
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108 views

Measuring pitch under dynamic acceleration: better to use 6DOF sensor or 9DOF?

I am working on a project that is challenging me. I've researched on the subject as best I can, but would like additional opinions. I have a 4' long aluminum c-channel (essentially, a metal rod) with ...
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103 views

Optimal sensor for measuring object velocity in an open area?

I am trying to measure vertical and horizontal speed of an object attached to a parachute. It will be launched from a low altitude and in an open area, allowing satellite GPS lock. Data treatment ...
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193 views

How can I keep stable position of my drone? How can I detect bias of them?

I am just a little bit worried about my research because I feel stuck in one point and I can't find the exit door. My question is about this: I will design a drone and the professor wants that ...
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160 views

MPU-9150 (IMU) AD0 address change

I have an MPU-9150 which uses I2C address 0x68 by default, but I'd like it to use address 0x69. This is possible by desoldering the 3-way AD0 "Jumper" on the breakout board. By default there are 3 ...
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229 views

Allan std deviation: why do we need to read the values at specific sample times?

I'm trying to deduce the white noise and rate random walk for an IMU. Some sources recommend deducing those values by fitting a line to the corresponding part of the log-log plot, and then reading the ...
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119 views

MPU6050 data go crazy while transmitting via HC-12 radio

I'm building a project based on the raspberry pi 3 (written in NodeJS & python) which uses the following modules: a bmp180 barometer, an mpu6050 imu, a hc-12 radio, a ublox-neo7m GPS, an LCD with ...
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234 views

Is IMU sensitivity always equal to FS / resolution?

I'm in the process of evaluating MEMS IMUs for a new design. According to this post, if a Gyroscope's range is ±250°/s, and its resolution is 16-bit (0-65535), then sensitivity can be calculated as: \...
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749 views

Drone gyroscope placement

I'm building a drone with an mpu6050. Does the placement of the mpu influence sensor data? I mean, if I rotate the sensor properly so that all axes point in proper directions, then will it matter if ...
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520 views

IMU Roll Angle - Correct when Stopped, Wrong when Moving

I have been using an MPU6050 (3 axis gyro, 3 axis accel, built in motion filter called DMP) on a car axle to measure axle angle when driving. On a long banked corner (2 degrees) the sensor reads 0 ...
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155 views

Raspberry PI, PCF8574AT, MPU6050, BMP180 i2c voltage difference?

I'm building a rpi 3 b+ based robot which collects data from a MPU6050 (Gy-521 breakout board, I power it with 5V), a BMP180 (3V input) and displays some data on a LCD via a PCF8574AT i2c converter (...
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609 views

What is sensor radius?

The manual for the bno 055 (link below) has an attribute for the sensor labelled radius on page 33. The radius takes up 2 bytes of memory, the msb and lsb. This already confuses me, as the msb ...
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608 views

What value pull up resistors does the MPU9250 use? [duplicate]

Looking at the datasheet On page 32, the datasheet says "The MPU-9250 always operates as a slave device when communicating to the system processor, which thus acts as the master. SDA and SCL lines ...
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119 views

Compensating for MEMS Gyroscopic drift

I'm new to IMUs and know that they are prone to high drift, which depends on Temperature, White Noise and Time, but the most uncertain drift is caused by time, and under certain circumstances, drift ...
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refresh rate for gyroscop and accelerometer [ mpu6050 ]

What is refresh rate ( update rate) for gyroscop and accelerometer ? If you write in the register the following values in mpu6050 : SMPLRT_DIV --> 19 CONFIG --> 2 ( DLPF off )