IMU sensor fusion going wrong

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Gabriele Scordamaglia
回答： Gabriele Scordamaglia 2024-4-12
Hi everybody.
I'm reading data from inertial sensor OOPENIMU300RI by Aceinna.
What I do is to read them in a GUI in Python, save the data in a JSON file and then create a txt file for every quantity (x, y, z speeds and accelerations).
After reading the data, I plot them on MATLAB and everything seems fine about it.
The problem start when I use the imufilter to get the orientation starting from acceleration and gyro data.
For example, If I read and save data while keeping the IMU still, this is what I get:
As you can see, angular velocities and acceleration are alright, but that's just data that I'm reading from the sensor.
About 'Yaw' and 'Pitch' there is a little offset, but it seems to be ok when it start reaching a costant value (which Is, in this case, almost 2).
I don't understand the 'Roll' behavior.
Can someone help me about it?

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回答（1 个）

Gabriele Scordamaglia
UPDATE: I solved the problem by increasing the imufilter sampling rate from 100 Hz to 1000 Hz.

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