# Questions tagged [imu]

An Inertial Measurement Unit (IMU) is an electronic device that measures and reports acceleration, orientation, angular rates, etc.

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### Fusing multiple IMUs in EKF framework

What is the approach to fuse multiple IMUs in EKF framework? Normally you take the IMU as the motion model and the sense step to consist of other sensors but when have multiple IMUs operating, what is ...
• 834
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### How to calibrate IMU for large scale deployments possibly using deep neural network

We were testing our visual SLAM algorithm on robots. We were getting poor performance. Then we calculated wite noise and random walk parameters (using kalibr) for the IMU and used it in our algorithm ...
• 111
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### IMU gravity tracking

I'm interested in tracking the gravity vector for a UAV supposing we don't have external input or GPS. I think a solution to the problem is as a follows: We have a past gravity direction vector which ...
• 834
38 views

### Why different noise terms are read at specific sampling interval in Allan Variance plot?

I was trying to identify Quantization Noise, Angle Random Walk, Bias Instability, and Rate Random Walk from Allan Variance plot which as Allan deviation on y axis and Sampling Time Interval ...
• 111
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### Allan variance plot does not match with the true plot

I am trying to simulate an Inertial Measurement Unit (IMU) by generating sample noisy gyroscope and accelerometer data. Currently I am analyzing the simulated gyroscope( gyro) data. Using the noise ...
• 163
1 vote
43 views

### Line sensor data generating data array

I have a line sensor with a $n$ number of detector elements, pixels. This line sensor should be used to capture data while moving so that later from the captured data images can be generated. The ...
• 11
1 vote
85 views

### Gyroscope Error Propagation: Why not use Euler Angles?

Looking at the EKF formulation for Gyroscopes in more depth I'm wondering, why can't we use Euler Angles in the Error State EKF framework for error and covariance propagation instead of Quaternions? ...
• 834
164 views

### Confusion on Error State Kalman Filter reset

I have been reading about kalman filters for IMU and I am confused on the error state formulation. Reading this paper, starting on page 63 and going onto 64 the paper addresses the reset of the error ...
• 834
1 vote
43 views

### Finite Difference Estimation for error propagation

For a complex system where symbolic computation of the jacobian is challenging, is estimating the jacobian via finite difference a viable option? To be explicit I'm mostly interested in playing around ...
• 834
1 vote
568 views

### Getting position data from 9-axis IMU

I want to track the movement of a person in a 2D plane using a 9-axis IMU. The size of the plane in which the movement is not bigger than 6 by 6 meter. The IMU is mounted on the head of the person and ...
• 11
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### How does velocity get computed in EKF INS systems?

In GPS IMU nav systems Velocity and angular position are not explicitly measured states yet at each timestep it's necessary in order to integrate IMU information. I'm curious how is this dealt with? ...
• 834
600 views

### Why couldn't I reapply a LPF to remove more noise?

I have a piece of raw accelerometer data consisted of 10,000 samples to be processed offline. Since the movement or rotation of the object is moderately slow and smooth, I would think that I can ...
• 207
1 vote
148 views

### IMU state estimation Covariance updating

EKF filter normally has a predict + update step, I am curious - how do you evolve the covariance of the state without one of the steps? In essence I want to evolve the state of an object using an IMU ...
• 834
154 views

### Best signal processing method for recognising changes in accelerometer results?

I am new to signal processing and trying to build a gadget that hits an object and recognizes fractures and weaknesses in it using an accelerometer attached to a hammer. I have some initial results ...