Anyone know how to get roll,pitch and YAW from 6 axis imu with sensor fusion?

Projects Programming
1

Hi guys, does anyone have any idea how to get the good yaw value from 6axis IMU?
I know it is hard to get the proper value of yaw without a magnetometer but if a little bit of drift is okay, does anyone know which fusion algorithm should I use? or the method to get orientation
(I used Madgwick, Mahony and complimentary algorithms for 9 axis IMU)

Also, could you suggest any 6-axis or 9-axis IMU with good quality?( I used LSM9DS1(9), LSM6DS3)

2

Yaw is conventionally measured from magnetic or true North, which is not possible with a 6DOF (gyro/accelerometer) IMU. You can measure a Z Euler angle rotation relative to an arbitrary starting value, but it will always drift.

The market is competitive and all the recent sensors have very similar performance. The ICM20948 is a fine choice for a consumer grade 9DOF IMU.

1 Like
3

ohhh thank you for the suggestion!!

4

By the way, can I ask one more question?
If I want to use the ENU-based IMU for my NWU-based fusion algorithm, is it okay just make align ENU-based IMU axes to NWU-based IMU?

5

This topic was automatically closed 180 days after the last reply. New replies are no longer allowed.