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Calibrating xsens IMU

asked 2013-09-29 10:42:57 -0500

narenji gravatar image

updated 2014-06-04 01:49:32 -0500

Hamid Didari gravatar image

Hi every one, I have a Xsens MTi IMU, When I get data from it using xsens_driver in ros, I found some numbers that are not the real numbers. when IMU is stable I see numbers and not changing, these numbers like accelartion should be zero but they aren't.

I think my sensor need a calibration. but I can not do it. any one can help how to calibrate this sensor?

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answered 2014-06-04 01:43:09 -0500

Hamid Didari gravatar image

updated 2014-06-04 01:44:35 -0500

try to subscribe imu topic with rostopic echo :

seq: 288
secs: 1330631562
nsecs: 789304161
frame_id: xsens_mti_imu
x: 0.00401890464127
y: -0.00402884092182
z: 0.679586052895
w: 0.73357373476

If you observe the orientation field, you will see four variables instead of three, as you would probably expect. This is because in ROS, the spatial orientation is represented using quaternions.

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answered 2014-06-04 05:40:09 -0500

dornhege gravatar image

The numbers shouldn't be zero. As it's real sensor data expect some noise on that, so x,y accel should be about zero. z acceleration usually has a magnitude around 9.81.

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Asked: 2013-09-29 10:42:57 -0500

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Last updated: Jun 04 '14