Data Collection for IMU Intrinsic calibration
Data Collection for IMU Intrinsic calibration
The IMU Intrinsic calibration application requires the accelerometer and gyroscope measurements from six orientations of the 6 axis IMU Sensor. The images listed below indicate the orientations needed in this process. Also, it is a required condition that the surface on which the sensor has been kept is flat and does not have a roll and pitch angle of its own. The following orientations are required for the calibration:
  1. 1.
    +X-UP: In this orientation, the positive X-axis of the IMU sensor is in the up direction.
  2. 2.
    +Y-UP: In this orientation, the positive Y-axis of the IMU sensor is in the up direction.
  3. 3.
    +Z-UP: In this orientation, the positive Z-axis of the IMU sensor is in the up direction.
  4. 4.
    -X-UP: In this orientation, the negative X-axis of the IMU sensor is in the up direction.
  5. 5.
    -Y-UP: In this orientation, the negative Y-axis of the IMU sensor is in the up direction.
  6. 6.
    -Z-UP: In this orientation, the negative Z-axis of the IMU sensor is in the up direction.
Note: In all these orientations, only one axis has a defined direction. It is because the other axes do not need to be in a particular direction. As long as the mentioned axis is pointing where it should, the data coming from it should be fine.
Note: The data is expected to be in a csv file with no header, and the data values are in this order: timestamp, accel_x(m/s2), accel_y, accel_z, gyro_x, gyro_y, gyro_z
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