search

microsoft / AirSim

Open source simulator for autonomous vehicles built on Unreal Engine / Unity, from Microsoft AI & Research
https://microsoft.github.io/AirSim/
Other
16.27k stars 4.53k forks source link

How to fuse multiple imu sensors? #2353

Closed sauranildebs closed 4 years ago

sauranildebs commented 4 years ago

I am trying to simulate a drone having multiple IMU sensors on-board. It is possible to fuse multiple LIDARs on a single drone, but I am not sure if multi-IMU integration is possible. I need to collect these IMU data using ROS topics so that I can use an Extended Kalman Filter for estimation. Moreover, where can I find the IMU-specific parameter list?

marcociara379 commented 4 years ago

Hi @sauranildebs, I guess you could try manually adding new IMUs following the structure and the content of the files located here. Furthermore, in AirSimSettings.hpp, you might want to include your new sensor.

On the other hand, if your IMU can be modelled as the one in airsim, but only with different parameters, I guess you can specify it directly in the settings.json., adding many of them to your vehicle. Unfortunately, I do not have a computer with AirSim installed at the moment to check the details.

sauranildebs commented 4 years ago

Hi @marcociara379 Thank you so much for the information. I'll try adding a new IMU AirSimSettings.hpp file. I tried adding two IMUs with different name parameter on the same vehicle by specifying them in the settings.json file, but it seems I am receiving the data from only one IMU because I haven't given any parameters. Can you share with me the IMU-specific parameters such that I can edit the settings.json file accordingly for both the IMUs.