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How to interpate the IMU raw data?

asked 2013-07-25 16:04:54 -0500

Astronaut gravatar image

updated 2013-07-25 16:05:21 -0500

Hello

I wont to check my IMU raw data. So I wont to find out the range of the orientation yaw and the pitch angle. So when I look at the IMU data I have like these:

orientation: 
  x: 0.00726589653641
  y: 0.0109150372446
  z: 0.452039599419
  w: 0.891901493073
orientation_covariance: [0.017453292519943295, 0.0, 0.0, 0.0, 0.017453292519943295, 0.0, 0.0, 0.0, 0.15707963267948966]
angular_velocity: 
  x: 0.0101893069223
  y: -0.0161255002022
  z: 0.0226749740541
angular_velocity_covariance: [0.0004363323129985824, 0.0, 0.0, 0.0, 0.0004363323129985824, 0.0, 0.0, 0.0, 0.0004363323129985824]
linear_acceleration: 
  x: -0.535392701626
  y: 0.325684845448
  z: 9.78638076782
linear_acceleration_covariance: [0.00040000000000000002, 0.0, 0.0, 0.0, 0.00040000000000000002, 0.0, 0.0, 0.0, 0.00040000000000000002]

So what is the pitch and yaw angle?? Any help?

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answered 2013-07-25 17:58:12 -0500

sai gravatar image

The orientation given here is in Quarternion representation and not Roll Pitch Yaw Representation.

This quaternion representation can be converted to RPY representation either by using a function in ROS or calculate manually using the formula which can be found on web

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There is code to do this conversion posted in this ros answers page http://answers.ros.org/question/11545/plotprint-rpy-from-quaternion/#17106

P.Naughton gravatar imageP.Naughton ( 2013-07-25 18:53:17 -0500 )edit

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Asked: 2013-07-25 16:04:54 -0500

Seen: 1,707 times

Last updated: Jul 25 '13