I am having trouble with the RGyro vector. I noticed that my values for Axz and Ayz do not change when I rotate the device. When I plot my RxGyro and RyGyro values I notice that they change a tiny bit as I rotate the device but then quickly return to zero when I hold the device at an angle.

Do you have any idea why this is happening? I’ve implemented your entire filter using another IMU and it works perfectly (ITG3205 and ADXL345) but I can’t get it to work on my MPU6050. I have calibrated the device so that it outputs acceleration in g’s and rate in rad/s.

Any help would be appreciated.

Many thanks

]]>“Also because we normalized our Racc vector, we may assume that it’s length is 1 and it hasn’t changed after the rotation, so it is relatively safe to write:

|Rgyro| = 1

“

I have a system which i need to determine pitch and yaw angle.

The problem is Drift !

Even i have the bigger problem that i have no time to calibrate sensor in stationary position, because system is not fix when gyro start working !!!

Can you help me with this?

Thanks best regards ]]>

So your final model is only available when the object is not moving since it is all based on the R = 1 ! I wonder how would it work if we are only interested in the dynamic behavior of the sensors

]]>I like your approach, very interesting yet something I didn’t understand is the fact that you assumed that your R vector is always equal to 1! this is only available when you’re object is not moving ? am I missing something ?

Thank you

]]>I have a question:

you defined x =RxGyro , y=RyGyro, z=RzGyro;and then you said

x/ SQRT(x^2 + z^2) = sin(Axz).But as the picture shows, sin(Axz) should be equal to Rx/Rxz. So i don’t understand what’s the relationship between RxGyro and Rx, RxGyro^2 and RzGyro^2 ? I’m much too confused,looking forward to your reply，thank you! ]]>

I'm designing an AHRS using Invensense MPU-9250 9-axis (Gyroscope + Accelerometer + Magnetometer) motion tracking device. I'm able to display the data from all the 3 sensors but not getting how to do the fusion. I tried to merge Accelerometer and Gyroscope data using the algorithm explained in this article but couldn't get proper result.

Kindly tell me how can I do the sensor fusion to get Pitch, Roll and Yaw for my AHRS.

Thank you

]]>

Am I correct in understanding that Racc has units of g ? If yes, then how can it be added to the Rgyro (which is angle after integrating gyroscope data with time) and the angle at time n-1?

Thanks,

A.

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