Madgwick for positional displacement

[boskopetkovski]

Hello,

I'm trying to implement the madgwick algorithm with MPU-9250 in order to determine the gravity component and subsequently the linear acceleration from which I'll try to calculate positional displacement.

I intend to use this position in a loosely coupled Kalman filter with GNSS.

However, after initial testing I'm worried that the algorithm's response is too slow to be used in this scenario.

Have you had any experience with Madgwick for positional displacement/linear acceleration?

Thanks!

[kriswiner]

We use the Madgwick algorithm frequently for gravity and linear acceleration estimation. With the STM32L4 we can easily run the Madgwick algorithm at 50 kHz with gyro sample rate at 1 kHz, way faster than required for any sensible orientation estimation. Velocity and position estimation will always be error prone and only accurate, if at all, for very short times. We do not usually attempt this. if the response of the algorithm is too slow, I suggest you move to a CORTEX M4F MCU.

On Wed, May 3, 2017 at 1:46 AM, Bosko Petkovski notifications@github.com wrote:

Hello,

I'm trying to implement the madgwick algorithm with MPU-9250 in order to determine the gravity component and subsequently the linear acceleration from which I'll try to calculate positional displacement.

I intend to use this position in a loosely coupled Kalman filter with GNSS.

However, after initial testing I'm worried that the algorithm's response is too slow to be used in this scenario.

Have you had any experience with Madgwick for positional displacement/linear acceleration?

Thanks!

— You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub https://github.com/kriswiner/MPU-9250/issues/143, or mute the thread https://github.com/notifications/unsubscribe-auth/AGY1qi9CBkngHa0gx5IJvGeADnE4HsC6ks5r2D76gaJpZM4NPG6N .

[boskopetkovski]

Hello Kris,

Thank you for your answer. I'm working with Cortex M3 and moving to a different MCU is not an option. However I've started optimizing the algorithm to use fixed point arithmetics and the initial results are interesting.

I think I'll get at least 40Hz this way which should be more than enough for the application I'm working on.

[kriswiner]

You might consider using the EM7180, it runs the fusion at the rate of the gyro up to 400 Hz and can provide a pretty accurate orientation estimation as well as gravity and linear acceleration with all calculation for these off the host.

https://www.tindie.com/products/onehorse/ultimate-sensor-fusion-solution/?pt=full_prod_search

Kris

On Thu, May 4, 2017 at 12:59 AM, Bosko Petkovski notifications@github.com wrote:

Hello Kris,

Thank you for your answer. I'm working with Cortex M3 and moving to a different MCU is not an option. However I've started optimizing the algorithm to use fixed point arithmetics and the initial results are interesting.

I think I'll get at least 40Hz this way which should be more than enough for the application I'm working on.

— You are receiving this because you commented. Reply to this email directly, view it on GitHub https://github.com/kriswiner/MPU-9250/issues/143#issuecomment-299119985, or mute the thread https://github.com/notifications/unsubscribe-auth/AGY1qmW6Hf5oC-YQFyziP5aXOzXKOMRHks5r2YV4gaJpZM4NPG6N .