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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 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 gravatar image

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

try to subscribe imu topic with rostopic echo :

---
header:
seq: 288
stamp:
secs: 1330631562
nsecs: 789304161
frame_id: xsens_mti_imu
orientation:
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

Seen: 720 times

Last updated: Jun 04 '14