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IMU noise cancelation in DRCsim 2.5

asked 2013-05-07 03:57:19 -0600

odedy86
19 ●8 ●9 ●13

I looked at the noise added to the IMU of Atlas and I saw that the acceleration has a bias of +-0.1 m/s/s in all direction, and the noise distribution in Gauusian. However, the orientation received from the IMU is filtered, with no bias and hardly any noise.

Is there a filter implemented in the calculation of the orientation?

Thanks, Oded

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answered 2013-05-07 16:10:21 -0600

gerkey
1414 ●8 ●18 ●25

As noted in pull request #421, noise is added to acceleration and velocity data, but not to orientation data. The provided orientation is extracted directly from the underlying physics engine.

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Asked: 2013-05-07 03:57:19 -0600

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Last updated: May 07 '13

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IMU noise cancelation in DRCsim 2.5