Orientation Error in Yaw of BNO055 in 9DOF Mode?

[A_Levy]

Hello All, 

I am trying ot use a BNO055 sensor for Inertial Navigation and Pedestrain Dead reckoning. While i was doing some indoor tetsing the other day i got some very strange results that I suspct are errors in the yaw of the sensor. I had the sensor set to 9DOF mode. 

For this test, i walked around a large square three times. Does anyone know what could be causing this change in orientation in the data... it looks like the orientation outputted from the BNO055 in 9DOF mode is not working.

As you can see in the photo, the yaw of the sesnor changes, does anyone have any ideas what may be causing this? could i be something to do with the calibration of the sensor? I already know that doing tests indoor with a magnetometer may be error prone.

Thank you for your help.

[BSTRobin]

Hello A_Levy,

The calibration state will change with the change of environment, because it was walking during walking, the surrounding environment was changing, and the change of environment will cause the change of calibration state. When the ambient interference is small, the calibration state will change from below 3 to 3

[BSTRobin · Accepted solution]

Hello A_Levy,

1. You could try IMU mode instead of 9DOF mode to log data to check heading drift performance, exclude mag influence;

2. Could you get the latest sample to test in your product?
3. As we tested it on your reference board, it worked normally. For the product designed by you, could you give more description or send some doc to us to check it?

[BSTRobin]

Hello A_Levy,

Do you have any feedback?