BNO086 heading problem

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GregorJ
 
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Joined: Wed Dec 07, 2022 5:46 am

BNO086 heading problem

Post by GregorJ »

Hello guys,

I'm in need of some ideas...
I'm developing a stationary robot that turns around. Every second, it moves for about 3 degrees left or right.
For getting heading, yaw, I'm using BNO086. I'm using ARVR-Stabilized Rotation vector.
Through some time I start receiving incorrect values. That is because of gyro drift.
Now the problem is that this robot is big and I can't make 8s for calibrating BNO.
When I calibrate it on simulator (small robot) it works OK.
I have enabled dynamic calibration, but it doesn't help.
Any idea, how could I get rid of this drift?

Best regards, Gregor
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gammaburst
 
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Re: BNO086 heading problem

Post by gammaburst »

All gyros drift. Calibration may reduce the drift but it will still drift.
Try selecting a report that includes the magnetometer, such as Rotation Vector.

I can't read your plot - unknown measurement units.

If you're wondering how to calibrate the magnetometer (used as a compass) when attached to a big heavy robot, then I'm not sure, but maybe this article will give you some ideas:
https://www.practical-sailor.com/boat-m ... wn-compass

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