Comments (11)
kriswiner
commented on August 22, 2024
1
Can you say what the problem is?
…On Thu, Aug 24, 2017 at 6:09 AM, proba238 ***@***.***> wrote:
Hello, in first place I want to thank you for the amazing work about
MPU9250. Even dough I’m a student I have very little practical knowledge
about sensor fusion (new to the topic), so having a guide like yours means
a lot, a ton!
And now about the problem, ill tri to be as simple as possible. So I
hooked up my MPU9250, setu up the communication and so on… I can easly
access the raw data registers from AK8963. The problem is the measurement.
In your article “Simple and Effective Magnetometer Calibration” ,the first
picture shows raw data from AKA8963, The blue marks indicates the change in
magnetic field along the xy plane.
I rotated the module for 360 degrees in the xy plane and my measurements
of the magnetic field along the plane, with the z pointing to ground shows
this:
[image: proba]
<https://user-images.githubusercontent.com/31312408/29667509-f7e7f8c4-88dc-11e7-8595-275c6586027d.jpg>
(The transition from nord to east is shown by the red rhomb)
Could you give me an opinion about what the problem might be, and how to
fix it?
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kriswiner
commented on August 22, 2024
1
Not sure what to tell you. Try moving the sensor all around in 3D and then
plotting Mx vs My, Mx vs. Mz and My vs Mz, you should get circular clouds
of points.
…On Thu, Aug 24, 2017 at 10:31 AM, proba238 ***@***.***> wrote:
Hello, and thank you for the quick response!
Well the problem is that I cant use the given magnetic field measurement
in the xy to get any reasonable data outcome. If the data would be
distributed in a say…circle form as it is the case in :
https://cloud.githubusercontent.com/assets/6698410/8768651/04fe05be-2e3d-
11e5-9f70-b6897fdca9ca.jpg
Then I could use a function as tan or tan2 to get the approximate heading
where the field is pointing. Of course I tried to calibrate the sensor as
explained in your work but, still. I mean, calibrating just shift the
measurement so that the long term run, mean is always at 0,0.
It seems to me that I should use some form of whited function to calibrate
the sensor, a PID or something, in order to scale the measurement to the
proper level.
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proba238
commented on August 22, 2024
Hello, and thank you for the quick response!
Well the problem is that I cant use the given magnetic field measurement in the xy to get any reasonable data outcome. If the data would be distributed in a say…circle form as it is the case in :
https://cloud.githubusercontent.com/assets/6698410/8768651/04fe05be-2e3d-11e5-9f70-b6897fdca9ca.jpg
Then I could use a function as tan or tan2 to get the approximate heading where the field is pointing. Of course I tried to calibrate the sensor as explained in your work but, still. I mean, calibrating just shift the measurement so that the long term run, mean is always at 0,0.
It seems to me that I should use some form of whited function to calibrate the sensor, a PID or something, in order to scale the measurement to the proper level.
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proba238
commented on August 22, 2024
All right, ill keep trying till I get them right. Thanks for the effort! 👍
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arkwad
commented on August 22, 2024
@proba238
Any progress?
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dungtam73
commented on August 22, 2024
I have the same problem. I get data from CC2650 to my android phone using formula at http://processors.wiki.ti.com/index.php/CC2650_SensorTag_User%27s_Guide#Movement_Sensor
My decode function:
Scatter chart:
@kriswiner I waved my sensor in figure 8 motion but result was not expected. Could you help me ?
@proba238 did you resolve this problem ?
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kriswiner
commented on August 22, 2024
Are you moving the sensor in all 3D directions? Rotating to sample the
entire response surface?
…On Mon, Mar 19, 2018 at 12:00 AM, dungtam73 ***@***.***> wrote:
I have the same problem. I get data from CC2650 to my android phone using
formula at http://processors.wiki.ti.com/index.php/CC2650_SensorTag_
User%27s_Guide#Movement_Sensor <http://url>
My decode function:
[IMG]https://i.imgur.com/6u4jjw8.jpg[/IMG]
Scatter chart:
[IMG]https://i.imgur.com/1bpwqMZ.jpg[/IMG]
@proba238 <https://github.com/proba238> did you resolve this problem ?
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dungtam73
commented on August 22, 2024
@kriswiner I tried again in all 3D directions. Here is result
![https://i.imgur.com/6u4jjw8.jpg[/IMG]](https://i.imgur.com/6u4jjw8.jpg[/IMG]){kind=link}
![https://i.imgur.com/1bpwqMZ.jpg[/IMG]](https://i.imgur.com/1bpwqMZ.jpg[/IMG]){kind=link}
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kriswiner
commented on August 22, 2024
Well you have a lot of offset bias that needs to be corrected.
…On Mon, Mar 19, 2018 at 9:28 AM, dungtam73 ***@***.***> wrote:
@kriswiner <https://github.com/kriswiner> I tried again in all 3D
directions. Here is result
<https://camo.githubusercontent.com/c9788f462a085ba6799c1314eb0198b4e050321f/68747470733a2f2f692e696d6775722e636f6d2f4636564c5579792e6a7067>
<https://camo.githubusercontent.com/ebb732da2ee26540e5417640585a4fa542d03f3b/68747470733a2f2f692e696d6775722e636f6d2f30464863665a6b2e6a7067>
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dungtam73
commented on August 22, 2024
Thank you so much! What can I do to get circular clouds of points like you ?
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kriswiner
commented on August 22, 2024
Well, you need to correct the offset biases, rescaling the axes would help
also.
What I do is move the sensor in all directions. Imagine there is an arrow
pointing from the top of the device. During calibration, you want to move
the device such that the tip of the arrow points to every point on an
imaginary sphere surrounding the sensor, multiple times if possible. Slow
and steady. This should give you ellipses. Correcting for offset biases and
axis skew should give you more or less spheres.
See:
https://github.com/kriswiner/MPU6050/wiki/Simple-and-Effective-Magnetometer-Calibration
…On Mon, Mar 19, 2018 at 9:50 AM, dungtam73 ***@***.***> wrote:
Thank you so much! What can I do to get circular clouds of points like you
?
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