BNO055 Inconsistent Quternions

[M08]

We run the the IMU in the NDOF-Mode. 

Several measurment cycles are done with the IMU placed at the same initial position on an even surface (every time in the same enviroment) with the z-axis up in the air.

However the initial  quaternions show different values in each cycle, even though the initial position is always exactly the same. In a measurment cycle the IMU is moved and rotated.

E.g.

Cycle 1:  q=(16381, -143, -278, 0)

Cycle 2: q=(-15826, 89, 292, -4227)

Cylce 3: q=(-16343, 217, 377, -1080)

...

What are we doing wrong?

Thanks in Advance!

[btruden_henway]

Hi M08,

At the beginning of each cycle, do you restart the IMU or do you just return to the initial position and continue with the measurements?

BR

[M08]

Thanks for the quick reply!

Usually the IMU is restarted after each cycle

However it is important to mention that  even if the IMU is not restartet, the values are inconsistent at the same position

[btruden_henway]

Which virtual sensor are you using?

[M08]

Can you please elaborate on the "virtual sensor"?

We use the BNO055 in NDOF mode, which is mounted on a PCB board