Hi all, I am working with the BNO055 (Adafruit 9-DOF Absolute Orientation) and Arduino Uno. First I calibrate the system completely (gyro=3, mag=3, accel=3, system=3). If I lay down the sensor without any movement and vibration on the table all gravity-vector components g(x),g(y),g(z) are not stable and the sum of them isnt 9,81 m/s2. Also the angle-velocity shows a lot of drift in each direction. The most relevant physical variable is the linear acceleration (movement without any gravity influence). But their 3 components a(x), a(y), a(z) shows a lot of drift too. Only the 3 Euler-angles are constant. If I calculate the velocity and the distance (in x,y, and z-direction) the position change all over the time, but the sensor is completely immobile. The acceleration datas are drifting and in that way there is no basis for calculation the 3D-translations and 3D-positions. Because of those values I cant believe that this sensor (BNO055) is accurate enough to be used in any case for orientation-oberservations. I tried to write new sketches for the sensor, e.g. measuring the time-consumption for 1 loop (delta t). But s(x)=0,5*a(x)*delta t * delta t (for y and z also) is increasing steadily by immobile sensor. Is delta t to small the sensor doesnt notice any movement, if its too big there is no accuracy. The acceleration datas are changing all the time, drifting in one direction. The position is never stable by immobile sensor. I would like to use this system for a navigation system to calculate precise positions and orientations all the time during moving the sensor. For immobile sensor I could implement a zero offset, e.g. a horizontal straigthened sensor should get g(x) =0, g(y)=0 and g(z)=9,81 m/s2, then delta x, delta y and delta z =0. But most of the time in the navigation application the sensor moves...... Could somebody give an idea or proposal what to do? Have a nice weekend, thanks in advance, best regards, MichaelA
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