Hi there, I need to correct aberrant IMU euler orientation values occurring secondary to Gimbal lock.

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Luckshman Bavan 2017-10-16

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回答： Luckshman Bavan 2017-10-27

I essentially have half the signal oscillating around the 0 degree mark and the other half around the 360mark. As true values will never exceed 180, I thought I could correct the output by reassigning all values > 360 to their original value subtracting 360. I have tried

Array Variable = yaw
yaw(yaw>180)=yaw-360

But this doesn't work, any have any ideas to correct this in an elegant way?

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Answer 1

David Ding 2017-10-18

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Hi Luckshman,

I understand that you are trying to limit your angle data to between 0 and 360 degrees. You may make use of the "mod" function to take all your data modulo 360. For example:

% raw data
>> x = randi(500, 10, 1)

x =

Corrected data by setting all angles > 360 to their corresponding values < 360:

y = mod(x, 360)

y =

This is also more robust than subtraction by 360 because for example if an angle is > 720 (i.e. two revolutions), the angle can still be brought back accordingly to the value between 0 and 360.

More information about MATLAB's "mod" function can be found below:

https://www.mathworks.com/help/releases/R2017b/matlab/ref/mod.html

Best,

David