Turning on IMU Sensor Fusion

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cirspylel
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Turning on IMU Sensor Fusion

Post by cirspylel »

Hello,

I can't find in the docs on how to turn on the sensor fusion to get 100Hz location update rate on my Super Beacon 2 with IMU

The only information I found is 7.19.1 on how to setup IMU.

Any help would be appreciated.

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admin
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Re: Turning on IMU Sensor Fusion

Post by admin »

Hello,

We would be happy to offer it, but IMU sensor fusion for location is not available on the Super-Beacons as of now. We used to have it for Beacons HW v4.9-IMU. But when we moved to more sophisticated Super-Beacons we couldn't move the IMU sensor fusion for location along.

We may have it the future, but no clear dates are available.

What we have today is IMU sensor fusion for direction. In the Paired Beacons configuration you are getting precise location (8Hz) and precise direction (100Hz). Precise location you are getting with typical update rate of 8Hz or so. But the direction - with 100Hz update.
It is a real IMU sensor fusion that takes the best of both worlds:
- Very accurate and precise angular high-speed (100Hz) data from the gyro
- And a complete IMU/gyro shift elimination from the Paired Beacons based on the precise ultrasound positioning

BR,
Maxim

llrw
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Joined: Fri Sep 03, 2021 10:12 pm

Re: Turning on IMU Sensor Fusion

Post by llrw »

admin wrote:
Thu Aug 19, 2021 2:51 pm
Hello,

We would be happy to offer it, but IMU sensor fusion for location is not available on the Super-Beacons as of now. We used to have it for Beacons HW v4.9-IMU. But when we moved to more sophisticated Super-Beacons we couldn't move the IMU sensor fusion for location along.

We may have it the future, but no clear dates are available.

What we have today is IMU sensor fusion for direction. In the Paired Beacons configuration you are getting precise location (8Hz) and precise direction (100Hz). Precise location you are getting with typical update rate of 8Hz or so. But the direction - with 100Hz update.
It is a real IMU sensor fusion that takes the best of both worlds:
- Very accurate and precise angular high-speed (100Hz) data from the gyro
- And a complete IMU/gyro shift elimination from the Paired Beacons based on the precise ultrasound positioning

BR,
Maxim
Hi Maxim,

This video (https://www.youtube.com/watch?v=aBWUALT3WTQ&t=7s) shows how to set up the paired hedgehogs in the Dashboard, but
1) how can I get the actual timestamped direction data (raw gyro and IMU-gyro-fusion) from modem? Will the direction be automatically exported into a .csv file?
2) what is the unit of this direction? and where is this direction measured from?
3) where exactly is the location associated with the paired hedgehogs? is this location the centre of the pairing line?

Thanks

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admin
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Re: Turning on IMU Sensor Fusion

Post by admin »

https://marvelmind.com/download/ - the main page everything related to SW, setup, Manuals, etc. =>

https://marvelmind.com/pics/marvelmind_interfaces.pdf - protocols. Notice, that we just published the new major SW release v7.0, but we haven't yet prepared detailed description of the fields. All described are supported. But there are many new.

1) See the protocol above

2) See the protocol above. Measured against the center of the pair

3) Center of the pair by default. You can get coordinates of each beacon from the pair and combine or use them as you wish

llrw
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Joined: Fri Sep 03, 2021 10:12 pm

Re: Turning on IMU Sensor Fusion

Post by llrw »

admin wrote:
Thu Oct 21, 2021 10:14 pm
https://marvelmind.com/download/ - the main page everything related to SW, setup, Manuals, etc. =>

https://marvelmind.com/pics/marvelmind_interfaces.pdf - protocols. Notice, that we just published the new major SW release v7.0, but we haven't yet prepared detailed description of the fields. All described are supported. But there are many new.

1) See the protocol above

2) See the protocol above. Measured against the center of the pair

3) Center of the pair by default. You can get coordinates of each beacon from the pair and combine or use them as you wish
Thank you for the reply.
for 2), do you mean the angle is measured against the centre line which is perpendicular to the pairing line? When the robot rotates, the pairing line (as well as the centre line that's perpendicular to it) also rotates, how is it possible that the angle is measured from these rotating lines?

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Re: Turning on IMU Sensor Fusion

Post by admin »

The angle is not just an angle - it is quaternion in the coordinate system of stationary beacons

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