Alignment of gyroscope readings to vehicle axis
Moderators:R!C0, JonMan, RickS
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Hi,
Let's assume I have a 6dof IMU and have corrected the accelerometer mounting from the readings at rest ( using g_correct_x() etc), and used track data to align the accelerometer X axis to the car's x axis.
Can i then use the same functions to rotate the gyro measurements into the same frame? (ie g_correct_x('gyro_x','gyro_y','gyro_z','gref_x','gref)y','gref_z','g_angle')
Or is there another way to do it?
regards
Tim
Let's assume I have a 6dof IMU and have corrected the accelerometer mounting from the readings at rest ( using g_correct_x() etc), and used track data to align the accelerometer X axis to the car's x axis.
Can i then use the same functions to rotate the gyro measurements into the same frame? (ie g_correct_x('gyro_x','gyro_y','gyro_z','gref_x','gref)y','gref_z','g_angle')
Or is there another way to do it?
regards
Tim
Re: Alignment of gyroscope readings to vehicle axis
You would need to contact a chassis dynamisist.
I'll ask if anybody here can answer your query and post any responses here.
BR, RickS
Ps. You might want to take a look at - philsal.co.uk/projects/imu-attitude-estimation - Possible what you might need but I have asked our developers to let me know if we can find anything else...
I'll ask if anybody here can answer your query and post any responses here.
BR, RickS
Ps. You might want to take a look at - philsal.co.uk/projects/imu-attitude-estimation - Possible what you might need but I have asked our developers to let me know if we can find anything else...
Re: Alignment of gyroscope readings to vehicle axis
I have done a little research on this overnight and have received the following information. I hope that it is of some assistance.. BR, RickS
Not 100% sure but it might actually work. See link below:-
https://electronics.stackexchange.com/q ... ence-frame
I think the construction of the matrix in the accepted answer there is equivalent to g_correct (though g_correct uses quaternions).
I guess just try it and see if it looks reasonable. You are going to have issues of drift on the gyros which this will not correct for.
Not 100% sure but it might actually work. See link below:-
https://electronics.stackexchange.com/q ... ence-frame
I think the construction of the matrix in the accepted answer there is equivalent to g_correct (though g_correct uses quaternions).
I guess just try it and see if it looks reasonable. You are going to have issues of drift on the gyros which this will not correct for.
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- New User
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Re: Alignment of gyroscope readings to vehicle axis
Quick update for anyone else viewing:
Looks like it works. Need to double check once steering sensor is up and running, but the data looks sensible eg. Yaw velocity correlates with lat. accel
Looks like it works. Need to double check once steering sensor is up and running, but the data looks sensible eg. Yaw velocity correlates with lat. accel
Re: Alignment of gyroscope readings to vehicle axis
Thank you for the reply and update.
Considered now closed
Considered now closed