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How to read Xsens IMU output values (measurement unit)

asked 2016-06-22 13:12:48 -0500

Marcus Barnet gravatar image

Hi to all,

I'm using a xsens MTI-10 IMU sensor (the orange version) and I would like to know how to read the output values.

For example, I get these kind of readings:

header: 
  seq: 620
  stamp: 
    secs: 1466618458
    nsecs: 864463090
  frame_id: /base_imu
orientation: 
  x: 0.0
  y: 0.0
  z: 0.0
  w: 0.0
orientation_covariance: [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0]
angular_velocity: 
  x: 32650.0
  y: 32783.0
  z: 32780.0
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration: 
  x: 33146.0
  y: 35201.0
  z: 36234.0
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

How do I have to read these numbers (for example, x: 32650.0)? Are they radiants or degrees?

Can you help me, please?

Thank you!!

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may be, they are only raw data and then I need to convert them in order to obtein the correct values? If so, I can't find the conversion formula..

Marcus Barnet gravatar image Marcus Barnet  ( 2016-06-22 15:29:56 -0500 )edit

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answered 2016-06-23 09:34:04 -0500

Nexus8 gravatar image

How are you getting this readings? Are you accessing the IMU using a UART on your computer, creating the message and the publishing what you get?

In any case, something is wrong with the code you are using, the quaternion should indicate a vector of norm equal to one. All elements are equal to zero on what you shared.

cheers...

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The problem was related to the raw data. I changed the output mode and now I'm able to correctly read the values.

Thank you for your help!

Marcus Barnet gravatar image Marcus Barnet  ( 2016-06-23 10:13:37 -0500 )edit

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Asked: 2016-06-22 13:12:48 -0500

Seen: 413 times

Last updated: Jun 23 '16