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Which IMU do you recommend?

asked 2021-10-08 02:28:29 -0600

masterkey gravatar image

Hello all,

I have a rover with 6 wheels and I want to improve my odom. I currently use robot_localization. With this I merge wheel odometry and from rtabmap visual odoemtry. As a camera I use a Kinect camera. I would now like to buy an IMU. I am not quite clear what kind of IMU I should buy? I want to navigate with the rover also outdoor in 3D terrain. Do I need an IMU with 6 or with 9 degrees of freedom? Are there also some that have GPS? Which IMU can you recommend for ROS? I use a Jetson Nano on which I have only one USB port free. It would be good if I could connect it via the GPIO pins.

Thanks for your help.

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answered 2021-10-10 07:56:01 -0600

Mike Scheutzow gravatar image
  • the first thing you need to consider is your budget. These sensors can easily cost US$1800.
  • we've used devices from sparkfun and lord-microstrain. Both are 9 dof. Both have usb 2.0 interfaces.
  • additional features you can get: internal IMU data filtering, magnetometer (aka compass)
  • the IMU portion of sensor has worked well for our 3 and 4 wheeled robots. The internal data filtering works well.
  • the magnetometer is nearly useless for our use case. The output changes wildly due to the robot's drive motors, as well as high-power building equipment. Calibration did not compensate. If the drive motors are off, you can maybe determine which 90 degree quadrant the robot is pointing at.
  • I'm not aware of any IMU with integrated GPS
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As Mike points out, it depends on the use case, but I'll throw in a +1 for "magnetometers are useless", for UGVs, anyway.

Rick Armstrong gravatar image Rick Armstrong  ( 2021-10-10 13:43:22 -0600 )edit

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Asked: 2021-10-08 02:28:29 -0600

Seen: 69 times

Last updated: Oct 10 '21