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BNO055 - pose estimation?
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BNO055 - pose estimation?

by molecule on Mon Sep 20, 2021 5:54 pm

Most project using the BNO055 (or other IMUs, like the MPU6050, etc) seem to focus primarily on orientation changes (rotation) (for example:
https://www.reddit.com/r/arduino/commen ... ed_adahrs/ or the bunny example project provided by Adafruit).

I'd like to additionally track position in space (up, down, left, right). I don't need to track it over long distances, so GPS doesn't make sense. Basically I'm trying to track position and orientation in a small, 2'x2' 3D space. Would the BNO055 work for this? If so, do you have any examples you could point me to? If not, do you have any other Arduino-style sensor suggestions?

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Re: BNO055 - pose estimation?

by sj_remington on Tue Sep 21, 2021 11:14 am

In theory, you can integrate acceleration values to get velocity and position. In practice, consumer grade 9DOF sensors are far too inaccurate and noisy for that to work.

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Re: BNO055 - pose estimation?

by molecule on Tue Sep 21, 2021 11:59 am

Thank you! Yes I just found this discussion around the process: https://robotics.stackexchange.com/ques ... r-velocity

Do you know of any non-consumer-grade sensors that would let me use an IMU alone to track position? I have somewhat of a budget to pursue better options.

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Re: BNO055 - pose estimation?

by sj_remington on Tue Sep 21, 2021 1:07 pm

Commercial IMUs used for position tracking are large and very expensive. The price depends strongly on the required accuracy, so look around. Here is one place to start: https://inertiallabs.com/products/imup/

chrobotics.com had a good explanation of the actual problem with position tracking, but it is now offline. I found it on the wayback machine here: https://web.archive.org/web/20201022151 ... om/library

Under "advanced topics": well worth a read.

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