BNO055 use for position tracking/dead reckoning

[birneschmeckt]

Dear all,
A BNO055 is used with an Arduino Uno and the Adafruit BNO055 library running in 9DOF Mode. Is there a way to increase the accuracy of the fused measurements to get a smaller cummulated error caused by the double integration? Or is there another technique to get better results by using third-party software/components?

Thanks.

[FAE_CA1]

Hi,

Thanks for your inquiry.

BNO055 is able to output dynamic and accurate heading/pitch/roll Euler angles, Linear accelerations, Quaternions and Gravity vectors at 100Hz in NDOF sensor fusion mode. It is not a good idea to use double integration on the linear acceleration to get distance travelled, because any little error on the acceleration will accumulate to large distance error over time.

You may use BHI260AP + BMM150 two-chip solution for dead reckoning. Please see more details at https://www.bosch-sensortec.com/products/smart-sensors/bhi260ap/ about BHI260AP with PDR algorithm built-in. The PDR is based on step counter which will not accumulate to large distance error over time.

Thanks.

[birneschmeckt]

Thanks for your reply!

Will the two-chip solution be precise enough to use it for SLAM?

[Karl_R]

There is an article in EDN written by: KAUSTUBH GANDHI AND AMITHASH KANKANALLU JAGADISH, BOSCH SENSORTEC 

https://www.edn.com/sensor-data-fusion-enhancing-gaming-navigation-and-vr-experiences/

It shows a very nice result for PDR when using magnetometer recalibration.

I would very much like to acheive these kind of results. Can you give more information about how this was accomplished?

[FAE_CA1]

Hi,

SLAM is the algorithm for robot navigation such as vacuum cleaners. Therefore, PDR algorithm built-in BHI260AP will not work for robot navigation. We are working on a new algorithm for such use case. We will publish it when it is ready.

Thanks.