The link you had attached, https://www.edn.com/sensor-data-fusion-enhancing-gaming-navigation-and-vr-experiences/ mentions about a fast-magnetometer calibration software. > Bosch Sensortec has focused on meeting the challenge head-on by developing “natural-use” fast magnetometer calibration software that is configured to the typical uses of each of the different types of devices, even when they are in constant motion. The objective is to ensure that even without any specific, intentional action from user, the inertial sensor in a device is automatically and accurately calibrated for use across changing environments. We would like to understand if this fast-calibration software is already internally running at the stock firmware level of BNO055 (this is not entirely clear also from the article and the user guide manuals) and especially the gyroscope corrections for the magnetometer offsets are already considered with the sensor firmware in the NDOF operating mode? Also, by any chance, is there a white paper detailing the theoretical developments of this fusion, publicly available?
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Hello team, First of all, thank you for your products. We have been using the BNO055 sensor in NDOF operating mode to get the absolute orientation of the sensor. I believe that this fusion mode combines magnetometer measurements along with the other sensor measurements to obtain the yaw/heading estimates of the sensor. We would like to understand how the disturbances in the magnetometer measurements due to indoor magnetic fields are compensated during the heading/yaw angle estimation. Mainly, is there any underlying logic that understands when not to use the magnetometer measurements for the yaw estimation and instead uses some fallback mechanisms in its place? It would be great if you provide us with some pointers or reference documentation from your knowledge base. Thank you in advace.
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