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Thread: HR-OS1 angular velocity and linear acceleration estimate

  1. HR-OS1 angular velocity and linear acceleration estimate

    Hi, I want to get HR-OS1's angular velocity and linear acceleration estimate.
    So , I write estimate code refer to the linked project,
    https://github.com/Interbotix/ros_hr..._interface.cpp.

    Code:
    imu_angular_velocity[0]=(-gyroRL-512)*1600*M_PI/(512*180)-imu_gyro_zero[0];
    imu_angular_velocity[1]=(-gyroFB-512)*1600*M_PI/(512*180)-imu_gyro_zero[1];
    imu_linear_acceleration[0]=lowPassFilter(0.25,(acclX-512)*G_ACC*4.0/512,imu_linear_acceleration[0]);      
    imu_linear_acceleration[1]=lowPassFilter(0.25, (acclY-512)*G_ACC*4.0/512,imu_linear_acceleration[1]);                      
    imu_linear_acceleration[2]=lowPassFilter(0.25,(acclZ-640)*G_ACC*4.0/640,imu_linear_acceleration[2]);
    The output:
    RL_GYRO: 510
    FB_GYRO: 512
    X_ACCEL: 510
    Y_ACCEL: 529
    Z_ACCEL: 647
    X angular velocity value: 0.000000
    Y angular velocity value: 0.000000
    X linear acceleration value: -0.126817
    Y linear acceleration value: 1.192849
    Z linear acceleration value: 0.299427
    roll value: -1.304659
    picth value: -0.102752
    RL_GYRO: 511
    FB_GYRO: 512
    X_ACCEL: 510
    Y_ACCEL: 528
    Z_ACCEL: 642
    X angular velocity value: -0.054542
    Y angular velocity value: 0.000000
    X linear acceleration value: -0.133396
    Y linear acceleration value: 1.200907
    Z linear acceleration value: 0.255198
    roll value: -1.335455
    picth value: -0.108229
    RL_GYRO: 510
    FB_GYRO: 512
    X_ACCEL: 507
    Y_ACCEL: 528
    Z_ACCEL: 650
    X angular velocity value: 0.000000
    Y angular velocity value: 0.000000
    X linear acceleration value: -0.195757
    Y linear acceleration value: 1.206950
    Z linear acceleration value: 0.344533
    roll value: -1.253567
    picth value: -0.154715
    The robot remains stationary, the linear acceleration values should be zero.
    I do not know what is going wrong.
    Can anyone help me ?

  2. #2
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    Re: HR-OS1 angular velocity and linear acceleration estimate

    Hi kira

    Gravitational pull may by present on the accelerometer X and Y even when the robot is stationary unless the sensor is perfectly level (example). Even then different sensors will have varying amounts of noise in the signal. Your code example and output do not seem to correlate so it is hard to know exactly what is going on. Something you might try in addition to ensuring a level sensor is adjusting the low pass filter on the accelerometer to something like 0.1 to reduce the noise even further.
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