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ethz-asl / dataset_tools

Loader for the generic ASL dataset formats.
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Multirotor Coordinate Frame with respect to IMU #7

Open superjax opened 5 years ago

superjax commented 5 years ago

I have an estimator that includes a very basic model of drag for multirotor, but needs to know the main direction of thrust. I would like to use this dataset, but I am unsure of what the transform from the IMU to the "Forward - Left - Up" coordinate frame of the multicopter. This frame does not appear to be aligned with the vicon frame.

Is this information available?

helenol commented 5 years ago

Please see the platform description on the dataset page: https://projects.asl.ethz.ch/datasets/lib/exe/detail.php?id=kmavvisualinertialdatasets&media=platform.jpg

The IMU in the dataset is the visual-inertial sensor IMU, which is X sort-of-up since it's mounted on the platform at an angle. The MAV autopilot IMU (which is separate) is not included in this dataset. The Vicon sensor coordinate frame is z up and aligned roughly with the center of mass of the MAV in x-y, just maybe ~10-15 cm higher.