Combining IMU with magnetomer data with IMU without magnetometer

asked 2021-02-12 09:34:49 -0500

Gherkins gravatar image

updated 2021-02-12 09:35:28 -0500

I have an IMU(0) that has a magnetometer and produces an orientation with the yaw pointing to north. I also have an IMU(1) that does not have a magnetometer.

Can I fuse imu0 and imu1 to produce a better orientation or would I have to first combine imu1 data with the magnetometer from imu0 before I can fuse it with robot localization?

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Comments

This is a good question. My gut reaction is to suggest that you just fuse IMU0_mag and IMU0 to produce IMU0_full and then feed both IMU0_full and IMU1 to robot localization -- but I am not confident. Will let the experts answer :)

vinny gravatar image vinny  ( 2021-02-12 09:38:35 -0500 )edit