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    BHI260AB Game Rotation Vector drift over time

    BHI260AB Game Rotation Vector drift over time

    btruden_henway
    Long-established Member

    Hi,

    I'm using the BHI260AB hosted by an STM32.

    In my application, I use the Game Rotation Vector for getting the current orientation of the device. But I noted that if I apply a constant vibration (3Hz) on the device, the Game Rotation Vector quaternion got from the chip starts shifting over time. The vibration applied is really slow and has low amplitude, it's just a subtle shaking of the device.

    At the beginning of the test the resulting quaternion of the Game Rotation Vector was:

    • w=0.7987
    • x=0.4669
    • y=-0.1874
    • z=-0.3300

    After 1 minute of shaking the device, the resulting quaternion on the same position was:

    • w=0.8357
    • x=0.4942
    • y=-0.1187
    • z=-0.2078
    1. What could be happening? Is there something related to the filtering of the accelerometer and the gyroscope used by the BHI?
    2. Or is it something related to the BSX algorithm that calculates the Game Rotation virtual sensor?
    3. Is there something I can do to solve this issue? 

    Thanks!

    18 REPLIES 18

    Hello btruden_henway,

    It's the static calibration method. The calibration method is like:

    1. Enable the virtual sensor: Accelerometer Calibrated and keep reading our the accuracy. The accuracy is 0 at the beginning.
    2. Put the device on a flat table with the +z axis pointing up. (You can also point other directions up firstly. the key point is to calibrate every direction.)
    3. After some seconds for step 1, you can then put the +x axis pointing up.
    4. Repeat the above step 2 and step 3 for other 4 directions: -x, -z, +y, -y.

    After a good six-sided calibration described above, the accuracy of the virtual sensor, Accelerometer Calibrated would becomes 3. Otherwise, you have to do the six-sided calibration again, because, maybe you did not put the device on a flat place or the calibration time for each side is too short.

     

     

    btruden_henway
    Long-established Member

    Hi BSTRobin,

    Thank you for the information. I'll try it and let you know.

    BR

    Hello btruden_henway,

    Do you have update?

    btruden_henway
    Long-established Member

    Hi BSTRobin,

    I'm still trying to read out the calibration state from the BHI chip. See the "BHI260 - Calibration State - BSX Algorithm Parameters" thread (https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/BHI260-Calibration-State-BSX-Algorithm-P....

    Once I get that working I'll be able to validate the drifting issue.

    BR

    Hello btruden_henway,

    I replied you about sensor calibration status in that link.

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