topic Calculating the angle between two BNO055 IMU sensors in MEMS sensors forum
https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/Calculating-the-angle-between-two-BNO055-IMU-sensors/m-p/20478#M5873
<P>Hello</P><P>We are developing a wearable that will use 2 BNO055 sensors mounted on the body (i.e thigh and calf) and we need to determine the angle between the two parts as the user goes through a series of movements. Is this possible and if so, can someone provide us with example code or at least a starting point on how to do the calculations.</P><P>Thanks</P><P> </P>Tue, 26 Jan 2021 23:45:15 GMTmsprauve2021-01-26T23:45:15ZCalculating the angle between two BNO055 IMU sensors
https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/Calculating-the-angle-between-two-BNO055-IMU-sensors/m-p/20478#M5873
<P>Hello</P><P>We are developing a wearable that will use 2 BNO055 sensors mounted on the body (i.e thigh and calf) and we need to determine the angle between the two parts as the user goes through a series of movements. Is this possible and if so, can someone provide us with example code or at least a starting point on how to do the calculations.</P><P>Thanks</P><P> </P>Tue, 26 Jan 2021 23:45:15 GMThttps://community.bosch-sensortec.com/t5/MEMS-sensors-forum/Calculating-the-angle-between-two-BNO055-IMU-sensors/m-p/20478#M5873msprauve2021-01-26T23:45:15ZRe: Calculating the angle between two BNO055 IMU sensors
https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/Calculating-the-angle-between-two-BNO055-IMU-sensors/m-p/20480#M5875
<P>First calculate the right angle of the two sensors, and then calculate the angle between the two sensors</P>Wed, 27 Jan 2021 01:09:37 GMThttps://community.bosch-sensortec.com/t5/MEMS-sensors-forum/Calculating-the-angle-between-two-BNO055-IMU-sensors/m-p/20480#M5875rex2021-01-27T01:09:37ZRe: Calculating the angle between two BNO055 IMU sensors
https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/Calculating-the-angle-between-two-BNO055-IMU-sensors/m-p/20552#M5902
<P>I agreed with Rex's comment. it is totally possible to calcualte the relative position with two BNO055 output. </P>
<P>Actually there are two ways: </P>
<P>1. use the Euler angle / Quaternion output from each sensor to calculate the relative angle for those two sensor</P>
<P>2. use the accel sensor output to calculate the relative angle. </P>
<P> </P>Thu, 28 Jan 2021 18:46:42 GMThttps://community.bosch-sensortec.com/t5/MEMS-sensors-forum/Calculating-the-angle-between-two-BNO055-IMU-sensors/m-p/20552#M5902Vincent2021-01-28T18:46:42ZRe: Calculating the angle between two BNO055 IMU sensors
https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/Calculating-the-angle-between-two-BNO055-IMU-sensors/m-p/20957#M6020
<P><SPAN>Hej Vincent </SPAN></P><P>I am also trying to calculate the relative angle between two sensors on the upperarm and forearm. I have the problem that the axis does not align with the axis in the body and therefore the angle is not correct. How can I align the axis of the absolute quaternion with the body axis? </P><P>Best regards </P><P>Mathias </P><P><SPAN> </SPAN></P>Wed, 10 Feb 2021 08:03:20 GMThttps://community.bosch-sensortec.com/t5/MEMS-sensors-forum/Calculating-the-angle-between-two-BNO055-IMU-sensors/m-p/20957#M6020MathiasHedegaar2021-02-10T08:03:20ZRe: Calculating the angle between two BNO055 IMU sensors
https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/Calculating-the-angle-between-two-BNO055-IMU-sensors/m-p/20976#M6029
<P>Did you try the axis remapping feature written in datasheet chapter 3.4 on page 26? </P>
<P>For your application, i will have the following recommand: </P>
<P>1. before testing, ask tester to stand for a while with arm down and keep arm straight position. this will help to calibration the position </P>
<P>2. then user can move arm and you can read sensor data to calculate the relative position. </P>Wed, 10 Feb 2021 19:41:00 GMThttps://community.bosch-sensortec.com/t5/MEMS-sensors-forum/Calculating-the-angle-between-two-BNO055-IMU-sensors/m-p/20976#M6029Vincent2021-02-10T19:41:00ZRe: Calculating the angle between two BNO055 IMU sensors
https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/Calculating-the-angle-between-two-BNO055-IMU-sensors/m-p/69593#M13561
<P>I also trying to measure angle between two IMU. what happens is that sometimes it gives the right angle between them and sometimes not.</P>Tue, 07 Feb 2023 17:48:50 GMThttps://community.bosch-sensortec.com/t5/MEMS-sensors-forum/Calculating-the-angle-between-two-BNO055-IMU-sensors/m-p/69593#M13561Dkb2023-02-07T17:48:50ZRe: Calculating the angle between two BNO055 IMU sensors
https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/Calculating-the-angle-between-two-BNO055-IMU-sensors/m-p/69602#M13563
<P>We need to consider the magnetic disturbence here. </P>
<P>Different position might have different magnetic disturbence existing. so the BNO055 output will be affected since the heading value was impacted by the magnetic sensor data as well. </P>
<P>Better to take both game rotation and rotation output and calculate the angles to see if there is any deviation here which caused by magnetic sensor. </P>Wed, 08 Feb 2023 01:06:16 GMThttps://community.bosch-sensortec.com/t5/MEMS-sensors-forum/Calculating-the-angle-between-two-BNO055-IMU-sensors/m-p/69602#M13563Vincent2023-02-08T01:06:16Z