[SP] Quantify Bias in IMU Accelerometer and Gyroscope
datahaki opened this issue · comments
Motivation
The go-kart uses the inertial measurements unit VMU931 for estimation of acceleration and rotation rate. Because the values are expected to drift over time, the device offers a calibration procedure. The calibration procedure takes about 3[s] and is carried out approx. after every 5-10[min] of racing.
Task Description
- Investigate the evolution and magnitude of bias using previous logs
- Devise an algorithm that detects bias and software correct, to make the calibration procedure obsolete