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RIVeR-Lab / kvh

ROS driver for KVH IMU's
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Compensate physical location offsets of IMU Gyro/Acc axes #23

Open velinddimitrov opened 11 years ago

velinddimitrov commented 11 years ago

Not sure where this is best done. Maybe in the KVH driver itself?

mcamurri commented 7 years ago

Dear @velinddimitrov , are you still working on this driver?

I'm working on the same issue you are addressing here.

Given the different physical sensing points on the IMU, and the need for a common origin in my software, by now I'm trying to use the average of the sensing points as origin for the sensor, but I'm not sure how much error this will bring.

velinddimitrov commented 7 years ago

@mcamurri See the locations of the sensing axes in the technical manual page 11 of the PDF for example. http://www.kvh.com/ViewAttachment.aspx?guidID=%7BD9E4BCAC-F4B3-4947-BC6E-F276497CBCAA%7D

mcamurri commented 7 years ago

The axis orientations are just fine for the gyros, but for the accelerations we need a common origin.

For those I already computed the average location of the sensing points shown at the page you pointed.

I was wondering if you did the same, or if you picked just the centre of the sensor, or you considered three different origins for the three acceleration points, or else.

Thanks, Marco.