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inertialsense / inertial-sense-sdk

The InertialSenseSDK contains code to quickly and easily integrate with Inertial Sense systems.
http://inertialsense.com
MIT License
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Getting free acceleration #19

Closed prarobo closed 4 years ago

prarobo commented 4 years ago

Currently, I am using the ros wrapper to get imu data. It appears that the imu linear acceleration data includes acceleration due to gravity.

Is there a way to get free acceleration from the imu? i.e. linear measurements with acceleration due to gravity subtracted?

waltjohnson commented 4 years ago

You would need to use the EKF attitude to rotate the gravity vector into the IMU frame and then subtract that from the IMU output.

waltjohnson commented 4 years ago

You can remove gravity from the IMU output using the EKF attitude as follows:

#include "SDK/src/ISPose.h"
Vector gravityNED = { 0, 0, -9.80665 }; // m/s^2
Vector gravityBody;
Vector accMinusGravity;
quatConjRot( gravityBody, DID_INS_2.qn2b, gravityNED );
sub_Vec3_Vec3( accMinusGravity, DID_DUAL_IMU.I[0].acc, gravityBody );
andrewpriddis commented 4 months ago

Upgrade to the GPX-1 for improved GPS accuracy and robust solutions!

Hello

I'd love for you to take a second and check out the newly released GPX-1. It is a dual GNSS designed module for GPS positioning, GNSS compassing and RTK positioning in a single package. You will no longer need to fit two large receivers in your design. It is an L1/L5 multiband receiver to reject interference, improve fix times, and provide an overall robust solution. The introductory price of an OEM module is $325 with volume pricing available as well. The IG-2 is an integrated module with an IMX-5 and GPX-1 with a price of $788. The RUG4 is in final development and will be released later this year.

GPX-1: https://info.inertialsense.com/e3t/Ctc/RF+113/cq5Rp04/MVzZpzmKP-VW83vQX_8Hrb-4W4HyYrL5dxhKkN1PJbsT5jGjMW5BWr2F6lZ3kVW382xtx37ypDsW63Jj1s2f1T_7W4ZRV9d8GK3V4W4ZqH0N4VYyR4W5tWTrr7Kt6X2W61n71t3nQwdmW7kKvGP1ZK9F_W1k9TGz2jy32JW7nLfVy8SQ2BFW219PHT85dlCbW6zJDWr5kvkwcW6SNpgN6NV_sTW2KtkgB5sScZzW3fMd126f2VkmW7WbBd_55FMHZW2MzCHP6NhQvkW7TyBkJ7d5YL1W7c1N-r19M-3bMd9nqhL_h7tW8nR4D78-tP9dW2Qw8yd5jggh0W4fjxHm1Q5kb9W3C2pDb2pvBdnW7wNFyT7v7SZ4MYFMWRwxPpyW8-6p6z2H3xcWW9kGT8n5x78qWW7zkhLh4ZcsmHW5tgcYj2Mt-KJW2bj56B8lK3lvW3J1HKT14_0FvW2pkZgG6x9__rW7-zChp9klg7fW7X2hJ37_ZRXGf87TWpl04 (https://info.inertialsense.com/e3t/Ctc/RF+113/cq5Rp04/MVzZpzmKP-VW83vQX_8Hrb-4W4HyYrL5dxhKkN1PJbsT5jGjMW5BWr2F6lZ3kVW382xtx37ypDsW63Jj1s2f1T_7W4ZRV9d8GK3V4W4ZqH0N4VYyR4W5tWTrr7Kt6X2W61n71t3nQwdmW7kKvGP1ZK9F_W1k9TGz2jy32JW7nLfVy8SQ2BFW219PHT85dlCbW6zJDWr5kvkwcW6SNpgN6NV_sTW2KtkgB5sScZzW3fMd126f2VkmW7WbBd_55FMHZW2MzCHP6NhQvkW7TyBkJ7d5YL1W7c1N-r19M-3bMd9nqhL_h7tW8nR4D78-tP9dW2Qw8yd5jggh0W4fjxHm1Q5kb9W3C2pDb2pvBdnW7wNFyT7v7SZ4MYFMWRwxPpyW8-6p6z2H3xcWW9kGT8n5x78qWW7zkhLh4ZcsmHW5tgcYj2Mt-KJW2bj56B8lK3lvW3J1HKT14_0FvW2pkZgG6x9__rW7-zChp9klg7fW7X2hJ37_ZRXGf87TWpl04 )

When paired with the IMX-5 you have a low cost tactical grade full Inertial Navigation System (INS). The solution can be further enhanced by enabling RTK positioning for cm level accuracy as well as enabling GNSS compassing for high accuracy heading. The IMX-5 is $275 with volume pricing available as well.

IMX-5: https://info.inertialsense.com/e3t/Ctc/RF+113/cq5Rp04/MVzZpzmKP-VW83vQX_8Hrb-4W4HyYrL5dxhKkN1PJbsz5jGjMW50kH_H6lZ3nSW528bLt5MLNw_W4BYMDq62mFzHW1MZgyw48cSYqW4r_Rvt3dw_HMW667TNt5vDB35W5KlTFV6ddmDxN4CBH2dhSCXhW3hSJ134gblTqW2xzM-r5hMNTqVBwttm7wJtg2W8dxRd97nH8HxW7T8RTH5K43T1N1pYJZgxmhjRW8tnwtD3Bv45lW6Rh4Xp8sbnkLW5Z_t_s7nW2BzW20LTF24NQ13rVLfDzl1TvqK0W8gV5tN3tJt9bW3CxgLG8gHf8VW52L_GV7l4YDmW4z1KWy4yzFJkW5YNrNJ4hwxwSMsnrkhs1kVtW1CTcDJ4-stxnW94RyW36H4prYW3qDGYQ2jR681W6Y7J1F12gb8kW2F8lTD42kPHkW8Qc8v74mCdzSW3NRjlq4LGLQCW8jlbw129XzLdf9gXBK804 (https://info.inertialsense.com/e3t/Ctc/RF+113/cq5Rp04/MVzZpzmKP-VW83vQX_8Hrb-4W4HyYrL5dxhKkN1PJbsz5jGjMW50kH_H6lZ3nSW528bLt5MLNw_W4BYMDq62mFzHW1MZgyw48cSYqW4r_Rvt3dw_HMW667TNt5vDB35W5KlTFV6ddmDxN4CBH2dhSCXhW3hSJ134gblTqW2xzM-r5hMNTqVBwttm7wJtg2W8dxRd97nH8HxW7T8RTH5K43T1N1pYJZgxmhjRW8tnwtD3Bv45lW6Rh4Xp8sbnkLW5Z_t_s7nW2BzW20LTF24NQ13rVLfDzl1TvqK0W8gV5tN3tJt9bW3CxgLG8gHf8VW52L_GV7l4YDmW4z1KWy4yzFJkW5YNrNJ4hwxwSMsnrkhs1kVtW1CTcDJ4-stxnW94RyW36H4prYW3qDGYQ2jR681W6Y7J1F12gb8kW2F8lTD42kPHkW8Qc8v74mCdzSW3NRjlq4LGLQCW8jlbw129XzLdf9gXBK804 )

We also still offer our ublox F9P based products that are integrated in systems all over the world.

I'd love to set up a meeting for this week. Please shoot me back an email and let me know what times work.

Andrew Priddis | Sr Systems Engineer | Inertial Sense, INC.

Mobile: (801) 610-6359 | InertialSense.com (https://info.inertialsense.com/e3t/Ctc/RF+113/cq5Rp04/MVzZpzmKP-VW83vQX_8Hrb-4W4HyYrL5dxhKkN1PJbv23l5QzW7Y8-PT6lZ3lZVdDxrF3YL9K3W4cJ9SW7qQyzgW7jHKgX49K8kcVdNCvC8cN2xZW1jFpnH6cNv_0W6Cfy1p5SGhp2W8GQw4K3Jpv4LW9lPsq74cs53XW7V4RKR8f3yYTW7vK3rV83RprLW3KgTMt7KjFLjW60z9Q35RwQk2W8X5M7r2D9CXdW8lNdsQ6-KJ3BW4F5PPH7wTxRkW21tSPz3PjXRBW4pxs3T3WGFFdN4CJP19Xt8n0W1ZVTzy2Dbt__W7NR2FP8J5_jbW2RkLDL8FGH0zW4RGrjt1Zx87_W4z92Bp7y6h7QW1WfT9p66RRCbW4Vrv0q6VwbfvW6wXVGz6D6n4lf6bzlLg04 )

Inertial Sense, 3000 Sierra Vista Way, Provo, UT 84606, USA, 801-610-6771

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