calculating location with MPU9250

Other Hardware Science and Measurement
1

I'm trying to make INS with MPU9250.

I followed the steps below.

  1. calculate the horizontal acceleration with roll, pitch, yaw and ax, ay, az

  1. use the average filter to make the current acc (0, 0, 0) (just when the measurement starts)

I measure 2000 times to calculate the average of horizontal acceleration

  1. with the above acc, calculate location

Then, it works when it is at the initial posture but when I lean over the sensor, the horizontal acceleration doesn't result (0, 0, 0), but there is an error less than plus or minus 2, which belongs to a big error to location.

I want to improve my INS result. Is it a limit of the sensor? Is there any mathematical method to reduce the error?

Please help me...

2

Hobby grade servo's do not do the INS thing. The hobby grade MMU's are not sensitive enough.

3

This tutorial explains why you cannot calculate location, or even velocity using consumer grade IMUs.

Please follow forum directions in posting code and photos. See the "How to get the best out of the forum" post.

4

Thank you for your answers.

5

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