ADIS16448A MEMS IMU

1. I am using ADIS16448A MEMS IMU. I would like to know how to fuse the magnetometer data with attitudes derived from angular rates / change in angles.

2. I have problem in deriving positions accurately from change in velocities with assumed initial conditions

Parents
  • Hi NevadaMark,
    Thank you for the prompt reply.
    I tried to use the MARG sensor fusion algorithm.
    I need some clarifications to get the required results.
    Kindly guide me to define the following parameters in the algorithm

    1.      gyroMeasError

    2.      gyroMeasDrift

    From the quaternion parameters I have used the following
    Equations to arrive at angular attitudes
     
                                           PHI= atan2(2*(SEq_1*SEq_2+2*SEq_3*SEq_4),1-(2*(SEq_2*SEq_2+2*SEq_3*SEq_3)));
                                           THETA=asin(2*SEq_1*SEq_3-2*SEq_2*SEq_4);
                                           YAW=atan2((2*SEq_1*SEq_4)+(2*SEq_2*SEq_3),1-((2*SEq_3*SEq_3)+(2*SEq_4*SEq_4)));
     
    Is this Ok??
Reply
  • Hi NevadaMark,
    Thank you for the prompt reply.
    I tried to use the MARG sensor fusion algorithm.
    I need some clarifications to get the required results.
    Kindly guide me to define the following parameters in the algorithm

    1.      gyroMeasError

    2.      gyroMeasDrift

    From the quaternion parameters I have used the following
    Equations to arrive at angular attitudes
     
                                           PHI= atan2(2*(SEq_1*SEq_2+2*SEq_3*SEq_4),1-(2*(SEq_2*SEq_2+2*SEq_3*SEq_3)));
                                           THETA=asin(2*SEq_1*SEq_3-2*SEq_2*SEq_4);
                                           YAW=atan2((2*SEq_1*SEq_4)+(2*SEq_2*SEq_3),1-((2*SEq_3*SEq_3)+(2*SEq_4*SEq_4)));
     
    Is this Ok??
Children
No Data