IMU | Ep.1: Preparing an experiment to test linear positions (ft. MPU6050, GY-BNO055)

This video covers the process of collecting data for preparation for experiments and deriving results from Matlab.

[BNO055 Wiring]

[MPU6050 Wiring]

[Oscillatory-Motion-Tracking-With-x-IMU]

[Project Github link]

#LinearPosition #IMU #BNO055 #MPU6050 #ESP32

[sakumar]

The BNO055 has a built in Cortex processor that reads the raw data and runs a sensor fusion algorithm (such as Kalman filter) internally. So your ESP processor is already reading filtered data from it. In the case of the Bosch you really are getting raw data. Thanks for your video in which one can clearly see the difference.

[gregd]

This is very impressive! Thank you for sharing your work on this.
I have not had much luck with resolving drift with the mpu6050. But I was not aware of the bno055! It's results appear to be much more stable. I would be very tempted to switch my current project for measuring linear movements from arduino/mpu6050 to esp32/bno055.

[Ivan_builds]

Great videos! I'm having some trouble writing the data to the file. My python gui starts taking samples, and I can see the data coming in on my python notebook, so I know my hardware is working. When I hit stop, it says "Sampling Rate: xxx hz :: Done!" It never tells me it's saving to file, and I don't see any data in the CSV file. Any tips?

[robotikveotomasyon]

Thank you so much for this explanatory video.

[MahmoudNobah]

Hello,

I am trying to make this project but i am a beginner, and i need to ask some questions,
* What are the python files used for and how do i assign them?
* Can the hardware be used only the matlab code?
* Where do i get the hardware from? (i need the exact name of the components please)

And thank you...

[vivekanand_dhakane]

Thanks for this comparison and analysis

[alexchan]

Hello
I have been trying to test linear position with Adafruit BNO085 by following your video.
I managed to get the value print out as the way as you demonstrated in the video with the BNO055 and change a bit of the Matlab code so that the accelerometer unit is g.
However when I run the Matlab code, the animation is not even close to the actual movement at all.
May I ask what changes have you made to the original Matlab code such that u can produce the clip at the end of the video?
Thank you very much.

[anakbandung]

So, do you think that BNO055 is much way better than MPU6050 to estimate the linear position? Because, I'm trying so hard to estimate the linear position using MPU6050

[ghiblistdio]

first, thank you so much for opening your amazing project. I have some question, is those python code working with Real time or only by demo? I connected with my BNO055 sensor and ESP32, but 3D animation is automatically moving by itself. thank you! 좋은프로젝트 감사합니다

[Sam-chjh]

Thank you.

What is the repeatability accuracy. i.e. for example, you keep it at ground, move one feet up. get back to ground, will it show same in calculated value?

Is it possible to get small sudden movement say 0.1 mm using these sensors?

[barajr]

Nice video, but can the position display be shown directly on the arduino serial monitor without entering matlab?

[minhquangvu]

Hello sir, I'm currently researching and formulating IMU algorithm on my own. In the previous video (ep 0), i saw that GY-BNO055 data were calibrated and the orientation data were provided also. And in this video, I considered that you calculated the position by available orientation data in GY-BNO055; and compared it with the position calculated by Mahony algorithm in MPU6050. Is this right?

[susovanpatra]

his sir, , I had a question, , I am currently working on a project to find the final position using imu sensor data, , can you help me with that??

[tanspidy]

How can i solve no module error when I run the python code in pycharm "import serial.tools.list_ports
ModuleNotFoundError: No module named 'serial.tools'
" can you say solution for this

[JoseSanchez-wgpe]

Hello! I am trying to adapt this code in real time with another type of sensors (Xsens MTw Awinda) but I don't know what do I have to put in SamplePlotFreq. Can you help me with this please?

[isabelsoares]

Was the Mahony filter built based on the Kalman filter? Does it make use of statistics as well and add a high pass filter along with it?

[kiettran]

Hello, can you show me the circuit diagram to see how the components are connected together?

[yesssoukel]

Hello,
Thank you for your video.
I have a question about the data recorded by the sensor.
In my case I used a sensor WitMotion Bluetooth BLE 5.0 9 Axis WT901BL, it sends the data directly to a software developed by the same company WitMotion, we can extract the data in text form and then convert them to CSV.
I collected the data of the accelerometer and the gyroscope as well as the magnetometer on the same CSV file, but when I transfer it on Matlab it does not work, error in the file.
I don't know if the problem is in the structuring of the data file or if it is necessary to change a detail in the code?
In what form should the data be saved for the code to work?

Thank you

[yesssoukel]

Hello,
Please, are the data (Data time, Data Rotation matrix, and Data EulerAngles) necessary for the calculation and display of the positioning, because you are not using it.


Also, for the packet number you have put an increasing number from 1 to 10000, but the packet number in the original example is different. Does this affect the calculation?



One last question, is Data Rotation matrix recorded by the sensor?



Thanks

[williammasson]

Is there any way to convert this code using a leonardo arduino instead of an ESP32? If so, you could try to explain it to me, I started an indoor tracking project with a 6050 MPU, but I only have one leonardo arduino, and your video was one of the best I've found on this subject, but as I'm very new to this subject, I don't know if it is possible to perform this "conversion".

Sorry for my English.