Testing two bmx160's Yaw readings

[amar]

Hi Everyone,

We are using 9DoF BMX160 Sensor in our project. Till now I am able to read ACC, GYRO and MAG raw readings from the IMU and also getting Roll, Pitch and Yaw readings by using Madgwick filter. I took the readings from two IMUs, by configuring both as below:

ODR: 100Hz (both ACC, GYRO and MAG)
Range: 2g for ACC, 500dps for GYRO
Power Mode: Normal (both ACC, GYRO and MAG)

Then by keeping the orientation of both the sensors same, we moved them in random directions simultaneously. I need your help on the following observations:

1) Why Yaw readings are different for these two (BMX160) IMUs, even we moved the both in the same directions and simultaneously?

2) Will MAG sensor readings have any effect on this?

3) Is internal FOC enough for ACC and GYRO calibration or any other external/manual calibration is required?

Thank you in advance.

Regards,

amarr

[amar]

Hi  FAE_CA1,

Please give me replay asap.

Thank you

Amarr

[FAE_CA1]

Hi,

There are many articles about magnetometer calibration online. For example, you cna find this one at https://www.nxp.com/docs/en/application-note/AN4246.pdf.

BNO055 or BHI260AB + BMM150 has microcontroller inside running Bosch magnetometer calibration algorithm and sensor fusion algorithm. BMX160 doesn't have a MCU inside so you need to run those algorithms externally in your own MCU.

Thanks.