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Published 20 hours ago • verified publisher icon FS-Driverless

IMU Sensor Noise

Open wahllca opened this issue 5 years ago • 6 comments

Hi, is there any way to reduce the noise of the IMU Sensors in the Simulation? The data below was recorded during a straight acceleration, and as you can see, the noise is quite high (~80% of scale) compared to real IMU data and therefore almost useless.

dataSensor

wahllca avatar Jul 11 '20 03:07 wahllca

@davidoort @skimslozo @CharlieA0 what do you think about this?

SijmenHuizenga avatar Jul 11 '20 09:07 SijmenHuizenga

@wahllca The current IMU noise parameters are modelled according to a real IMU (see datasheet). How do the noise parameters of your mentioned reference IMU compare to this one?

skimslozo avatar Jul 11 '20 12:07 skimslozo

Thank you very much for the quick response! Maybe I am a little spoiled with our self-developed IMU, but you are referring to a rather cheap IMU compared to the prices of other sensors of the autonomous system. Maybe we can agree on the Sparkfun Razor IMU 9DOF (http://wiki.ros.org/razor_imu_9dof) because it is a widely used device. I could also provide a recorded rosbag for reference.

wahllca avatar Jul 12 '20 12:07 wahllca

I don't mind moving to a better imu model at all! It seems like a small change and I can't imagine other teams hate having access to better hardware.

@wahllca Would you be able to propose changes to this file?

SijmenHuizenga avatar Jul 13 '20 10:07 SijmenHuizenga

@skimslozo Do you think this is an easy change? If so, would you be able to implement this?

SijmenHuizenga avatar Jul 20 '20 10:07 SijmenHuizenga

@SijmenHuizenga Yes, will take a look.

skimslozo avatar Jul 24 '20 10:07 skimslozo