I used the sensor in NDOF mode. I followed the full calibration steps and ensured both the system, accelerometer, gyroscope and magnetometer were continually reading 3. Then I began sampling by moving the encoder wheel along the table. The IMU is placed directly at the center of rotation of the wheel, where x is pointing toward the table, z is toward my body and y is pointing to the direction of motion. video https://youtu.be/vrrQS1RBzHg ax, ay, az: are being ready from the linear accel register wx,wy,wz: are the angular velocity measurements roll, pitch and yaw are the euler outputs delta x: is my encoder current distance in millimeters micro seconds: is the time stamp in microseconds I then use these sample measurements and attempt to integrate them in matlab only using the linear acceleration data. I create a vector for the linear acceleration and integrate my time steps (sampling every 10 ms) assuming starting at rest which I did. The resulting velocity vector is then converted to a speed because i just need the magnitude for my project. The resulting graph can be seen below having a steady drift in the speed. I determined from help of collegues and other online forums that this is due to poor linear acceleration measurements, perhaps an offset. I was told by some people on other forums that the BNO055 would not work for this application, because of acceleration inaccuracy. I wanted to go straight to the source to see if you may have any recommendations because like I said I only need roughly 30 seconds of good data before I can reset my integration. Thus getting rid of any accumulating error. Some other details is the device for the project is handheld and must remain so. We have a budget under 500 dollars so i am trying to keep sensor cost under 100. I am using an arduino uno because in the final design we are trying to use a nano (if need be we can switch to a better board). If you may have a better sensor recommendation I am open to that as well. If there is any more detail you may need feel free to ask. Sample Data: (attached the one in the graph is LMD1)
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Hi I am currently trying to use the Bno055 sensor in a project where I need to find velocity relatively accurately for 30 seconds. I attempted to use the BNO055 in NDOF mode to get linear acceleration straight from the register this data however sees large amounts of drift due to inaccurate linear Accel readings. I checked the calibration status and all sensors and the system are reading 3. Is there any pointers someone may have on what I may be doing wrong. I am using the breakout made by adafruit for a school project and would appreciate any feedback greatly.
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