Hello all, \ i am using a ettus E313 and i need to have an accurate measure of platform orientation that could change during the performance.\ So i did a calibration of IMU sensor following the information linked here (https://files.ettus.com/manual_archive/release_003_009_007/html/page_usrp_e3x0.html)\ but i obtained a poor result (See attached the calibration results). \ \ Is there anybody which had the same problem and fixed it?\ \ Do you know a specific calibration procedure for E313? How do i rotate the platform step by step during the calibration procedure ?
Thank in advance for you support. Gianluca
# ##################################################################### # # RTIMULib settings file # General settings # # IMU type - # 0 = Auto discover # 1 = Null (used when data is provided from a remote IMU # 2 = InvenSense MPU-9150 # 3 = STM L3GD20H + LSM303D # 4 = STM L3GD20 + LSM303DLHC # 5 = STM LSM9DS0 # 6 = InvenSense MPU-9250 IMUType=2 # # Fusion type type - # 0 - Null. Use if only sensor data required without fusion # 1 - Kalman STATE4 # 2 - RTQF # 3 - Kalman STATE7 FusionType=2 # # Is bus I2C: 'true' for I2C, 'false' for SPI BusIsI2C=true # # I2C Bus (between 0 and 7) I2CBus=0 # # SPI Bus (between 0 and 7) SPIBus=0 # # SPI Speed in Hz SPISpeed=500000 # # I2C slave address (filled in automatically by auto discover) I2CSlaveAddress=105 # # IMU axis rotation - see RTIMU.h for details AxisRotation=0 # ##################################################################### # # Compass calibration CompassCalValid=true CompassCalMinX=-44.644733 CompassCalMinY=-37.581779 CompassCalMinZ=-66.289589 CompassCalMaxX=40.505192 CompassCalMaxY=57.345547 CompassCalMaxZ=22.612717 # ##################################################################### # # Compass ellipsoid calibration compassCalEllipsoidValid=false compassCalOffsetX=0.000000 compassCalOffsetY=0.000000 compassCalOffsetZ=0.000000 compassCalCorr11=1.000000 compassCalCorr12=0.000000 compassCalCorr13=0.000000 compassCalCorr21=0.000000 compassCalCorr22=1.000000 compassCalCorr23=0.000000 compassCalCorr31=0.000000 compassCalCorr32=0.000000 compassCalCorr33=1.000000 # ##################################################################### # # Accel calibration AccelCalValid=true AccelCalMinX=-0.123408 AccelCalMinY=-0.017367 AccelCalMinZ=-0.148351 AccelCalMaxX=0.159619 AccelCalMaxY=1.261403 AccelCalMaxZ=1.142842 # ##################################################################### # # Saved gyro bias data GyroBiasValid=true GyroBiasX=-0.018730 GyroBiasY=0.000029 GyroBiasZ=-0.005262 # ##################################################################### # # MPU-9150 settings # # Gyro sample rate (between 5Hz and 1000Hz) MPU9150GyroAccelSampleRate=50 # # Compass sample rate (between 1Hz and 100Hz) MPU9150CompassSampleRate=25 # # Gyro/accel low pass filter - # 0 - gyro: 256Hz, accel: 260Hz # 1 - gyro: 188Hz, accel: 184Hz # 2 - gyro: 98Hz, accel: 98Hz # 3 - gyro: 42Hz, accel: 44Hz # 4 - gyro: 20Hz, accel: 21Hz # 5 - gyro: 10Hz, accel: 10Hz # 6 - gyro: 5Hz, accel: 5Hz MPU9150GyroAccelLpf=4 # # Gyro full scale range - # 0 - +/- 250 degress per second # 8 - +/- 500 degress per second # 16 - +/- 1000 degress per second # 24 - +/- 2000 degress per second MPU9150GyroFSR=16 # # Accel full scale range - # 0 - +/- 2g # 8 - +/- 4g # 16 - +/- 8g # 24 - +/- 16g MPU9150AccelFSR=16 # ##################################################################### # # MPU-9250 settings # # Gyro sample rate (between 5Hz and 1000Hz plus 8000Hz and 32000Hz) MPU9250GyroAccelSampleRate=80 # # Compass sample rate (between 1Hz and 100Hz) MPU9250CompassSampleRate=40 # # Gyro low pass filter - # 0x11 - 8800Hz, 0.64mS delay # 0x10 - 3600Hz, 0.11mS delay # 0x00 - 250Hz, 0.97mS delay # 0x01 - 184Hz, 2.9mS delay # 0x02 - 92Hz, 3.9mS delay # 0x03 - 41Hz, 5.9mS delay # 0x04 - 20Hz, 9.9mS delay # 0x05 - 10Hz, 17.85mS delay # 0x06 - 5Hz, 33.48mS delay MPU9250GyroLpf=3 # # Accel low pass filter - # 0x08 - 1130Hz, 0.75mS delay # 0x00 - 460Hz, 1.94mS delay # 0x01 - 184Hz, 5.80mS delay # 0x02 - 92Hz, 7.80mS delay # 0x03 - 41Hz, 11.80mS delay # 0x04 - 20Hz, 19.80mS delay # 0x05 - 10Hz, 35.70mS delay # 0x06 - 5Hz, 66.96mS delay MPU9250AccelLpf=3 # # Gyro full scale range - # 0 - +/- 250 degress per second # 8 - +/- 500 degress per second # 16 - +/- 1000 degress per second # 24 - +/- 2000 degress per second MPU9250GyroFSR=16 # # Accel full scale range - # 0 - +/- 2g # 8 - +/- 4g # 16 - +/- 8g # 24 - +/- 16g MPU9250AccelFSR=16 # ##################################################################### # # L3GD20H + LSM303D settings # # Gyro sample rate - # 0 = 12.5Hz # 1 = 25Hz # 2 = 50Hz # 3 = 100Hz # 4 = 200Hz # 5 = 400Hz # 6 = 800Hz GD20HM303DGyroSampleRate=2 # # Gyro full scale range - # 0 = 245 degrees per second # 1 = 500 degrees per second # 2 = 2000 degrees per second GD20HM303DGyroFsr=1 # # Gyro high pass filter - # 0 - 9 but see the L3GD20H manual for details GD20HM303DGyroHpf=4 # # Gyro bandwidth - # 0 - 3 but see the L3GD20H manual for details GD20HM303DGyroBW=1 # Accel sample rate - # 1 = 3.125Hz # 2 = 6.25Hz # 3 = 12.5Hz # 4 = 25Hz # 5 = 50Hz # 6 = 100Hz # 7 = 200Hz # 8 = 400Hz # 9 = 800Hz # 10 = 1600Hz GD20HM303DAccelSampleRate=5 # # Accel full scale range - # 0 = +/- 2g # 1 = +/- 4g # 2 = +/- 6g # 3 = +/- 8g # 4 = +/- 16g GD20HM303DAccelFsr=3 # # Accel low pass filter - # 0 = 773Hz # 1 = 194Hz # 2 = 362Hz # 3 = 50Hz GD20HM303DAccelLpf=3 # # Compass sample rate - # 0 = 3.125Hz # 1 = 6.25Hz # 2 = 12.5Hz # 3 = 25Hz # 4 = 50Hz # 5 = 100Hz GD20HM303DCompassSampleRate=4 # # Compass full scale range - # 0 = +/- 200 uT # 1 = +/- 400 uT # 2 = +/- 800 uT # 3 = +/- 1200 uT GD20HM303DCompassFsr=0 # ##################################################################### # # L3GD20 + LSM303DLHC settings # # Gyro sample rate - # 0 = 95z # 1 = 190Hz # 2 = 380Hz # 3 = 760Hz GD20M303DLHCGyroSampleRate=0 # # Gyro full scale range - # 0 = 250 degrees per second # 1 = 500 degrees per second # 2 = 2000 degrees per second GD20M303DLHCGyroFsr=1 # # Gyro high pass filter - # 0 - 9 but see the L3GD20 manual for details GD20M303DLHCGyroHpf=4 # # Gyro bandwidth - # 0 - 3 but see the L3GD20 manual for details GD20M303DLHCGyroBW=1 # Accel sample rate - # 1 = 1Hz # 2 = 10Hz # 3 = 25Hz # 4 = 50Hz # 5 = 100Hz # 6 = 200Hz # 7 = 400Hz GD20M303DLHCAccelSampleRate=4 # # Accel full scale range - # 0 = +/- 2g # 1 = +/- 4g # 2 = +/- 8g # 3 = +/- 16g GD20M303DLHCAccelFsr=2 # # Compass sample rate - # 0 = 0.75Hz # 1 = 1.5Hz # 2 = 3Hz # 3 = 7.5Hz # 4 = 15Hz # 5 = 30Hz # 6 = 75Hz # 7 = 220Hz GD20M303DLHCCompassSampleRate=5 # # Compass full scale range - # 1 = +/- 130 uT # 2 = +/- 190 uT # 3 = +/- 250 uT # 4 = +/- 400 uT # 5 = +/- 470 uT # 6 = +/- 560 uT # 7 = +/- 810 uT GD20M303DLHCCompassFsr=1 # ##################################################################### # # LSM9DS0 settings # # Gyro sample rate - # 0 = 95z # 1 = 190Hz # 2 = 380Hz # 3 = 760Hz LSM9DS0GyroSampleRate=0 # # Gyro full scale range - # 0 = 250 degrees per second # 1 = 500 degrees per second # 2 = 2000 degrees per second LSM9DS0GyroFsr=1 # # Gyro high pass filter - # 0 - 9 but see the LSM9DS0 manual for details LSM9DS0GyroHpf=4 # # Gyro bandwidth - # 0 - 3 but see the LSM9DS0 manual for details LSM9DS0GyroBW=1 # Accel sample rate - # 1 = 3.125Hz # 2 = 6.25Hz # 3 = 12.5Hz # 4 = 25Hz # 5 = 50Hz # 6 = 100Hz # 7 = 200Hz # 8 = 400Hz # 9 = 800Hz # 10 = 1600Hz LSM9DS0AccelSampleRate=5 # # Accel full scale range - # 0 = +/- 2g # 1 = +/- 4g # 2 = +/- 6g # 3 = +/- 8g # 4 = +/- 16g LSM9DS0AccelFsr=3 # # Accel low pass filter - # 0 = 773Hz # 1 = 194Hz # 2 = 362Hz # 3 = 50Hz LSM9DS0AccelLpf=3 # # Compass sample rate - # 0 = 3.125Hz # 1 = 6.25Hz # 2 = 12.5Hz # 3 = 25Hz # 4 = 50Hz # 5 = 100Hz LSM9DS0CompassSampleRate=4 # # Compass full scale range - # 0 = +/- 200 uT # 1 = +/- 400 uT # 2 = +/- 800 uT # 3 = +/- 1200 uT LSM9DS0CompassFsr=0
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