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Bjarne Hansen edited this page Oct 23, 2020 · 20 revisions

Orientation Sensor Testing wiki

Known Issues

  1. Intermittently the output from the filter function will drift steadily and continuously away from the known heading, even when the sensor is held stationary. Example as observed by tedenda: alt-text

Limited testing suggests that it is not caused by lack of calibration.

Apparatus

A bicycle wheel (composed of an aluminum rim and stainless-steel spokes, and steel axle) is mounted on a wooden plank. The sensor and associated circuit board is lashed to the spokes near the rim, with the sensor about 24cm away from the ferromagnetic materials in the axle. A counterweight is attached to the wheel opposite the circuit board so the wheel can rotate freely and without excessive imbalance.

Testing

Stationary Response

Step Response

Resources

  1. https://github.com/SignalK/signalk-imu
  2. https://www.tindie.com/products/onehorse/ultimate-sensor-fusion-solution-mpu9250/
  3. kriswiner's Github repositories, including: https://github.com/kriswiner/EM7180_SENtral_sensor_hub/wiki/K.-Limits-of-Absolute-Heading-Accuracy-Using-Inexpensive-MEMS-Sensors and https://github.com/kriswiner/MPU6050/wiki/Affordable-9-DoF-Sensor-Fusion
  4. Estimation of heading using magnetometer and GPS
  5. Performance Improvement of Inertial Navigation System byUsing Magnetometer with Vehicle Dynamic Constraints
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