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by marti3110
WhatsApp Image 2024-09-11 at 12.18.21 PM.jpeg
Immagine 2024-09-11 122817.png
marti3110_0-1726054927231.png
roll_pitch_yaw_-90.jpeg
roll_pitch_yaw_90.jpeg
roll_pitch_yaw_-90.jpeg
roll_pitch_yaw_90.jpeg
HAODR
ODR: 120 Hz
HAODR
ODR: 120 Hz
Although the sensor movements occur simultaneously, there is a delay.
Although the sensor movements occur simultaneously, there is a delay.
Calculate angles from accelerometer and gyroscope data
marti3110_1-1733846896381.png
image.png
The figure shows the accelerometer data. Curve 1 indicates the data from sensor 1 and curve 2 indicates the data from sensor 2. Having performed the same movement at the same time, it is clear that there is a problem when the data is printed on the terminal.
image.png
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In the image on the left the angles are obtained by integrating the gyroscope data "gyro_angle_x = zeros(length(gyr_x),1); gyro_angle_y = zeros(length(gyr_y),1); gyro_angle_z = zeros(length(gyr_z),1);  for i = 2:length(gyr_x) dt = time_s(i) - time_s(i-1); % Time interval gyro_angle_x(i) = gyro_angle_x(i-1) + gyr_x(i) * dt; % X-axis angle gyro_angle_y(i) = gyro_angle_y(i-1) + gyr_y(i) * dt; % Y-axis angle gyro_angle_z(i) = gyro_angle_z(i-1) + gyr_z(i) * dt; % Z-axis angle end " , for the accelerometer instead "acc_roll = zeros(length(acc_x),1); acc_pitch = zeros(length(acc_y),1);  for i = 2:length(gyr_x) acc_roll(i) = atan2(acc_y(i), sqrt(acc_x(i)^2 + acc_z(i)^2)); acc_pitch(i)= atan2(-acc_x(i), sqrt(acc_y(i)^2 + acc_z(i)^2)); end " but the measurements differ too much (while if I acquire the data from a single sensor the results almost match). In the image on the right the angles obtained starting from the quaternions are represented and here too the trend does not appear continuous bu
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Added ‎2024-12-11 1:51 AM
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Posted in: Re: How LSM6DSV16X enables sensor fusion low power (SFLP) algorithm - ( ‎2024-12-10 8:07 AM )

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