BNO085 and 2x ICM-20948 Self-Calibration from Cold Start.

BNO085 and ICM-20948 are two competing 9-axis IMU modules with built in motion controllers running sensor fusion algorithms. Crunching together accelerometer, gyroscope and magnetometer data they can output global rotation vector (9-axis quaternion) right away, without the need to implement your own motion algorithms on host MCU. When you power up the IMU it is uncalibrated, so you should not trust the data until you calibrate it. But the internal IMU controller runs calibration in background all the time. So the more you move it - the better it gets. You may read and store calibration settings by your host MCU, then load them at next startup so the IMU will provide correct data right-away.

[nailtronic]

Where it's oossible to download all info? Thanks

[antoniogruzdiew]

Have you used ur own software module to control sensor? Have you managed to collect data from all 3 sensors with the same data rate?

[paulpattyn]

Hi Alex
I build a BNO055 into a kart. But when restarting the calibration is lost. And I cannot swing the car around😙So with the BNO085 it recalibrate itself after restart?

[Wj]

Hi Alex, great work! Have you tested the heading drift between these two when walking in different environment?

[pauloamaral]

Congratulations for the videos and progress so far. I'm working in a project and would like to request some advice.

I'm using an MPU9250 to build a VR tracker and I'm going to substitute it. I'm having a hard time choosing between both IMUs that you presented on the video.

I hope you can help me choose by answering a few questions.


How long the ICM takes after first callibration is stored in the MCU flash to load the firmware and get ready to run?
Which documentation was easier to undertand?
How long did you spent porting the drivers to a specific MCU?

[joshuaogden]

Hey alex, great demonstarion thankou. Have both bno 055 and 20984 but cant run dmp on 20984. Which library have you used? Cheers

[emmetray]

How do you apply calibrated offset and scale? I mean where can I find that values? I can not find any information about it.

[KR]

Hi Alex, nice job.
I am trying to get the ICM-20948 calibrated for a project I'm working on, but mine does not seem to self calibrate. What output values are you reading from the DMP for the input to your software?
I am currently reading the orientation output but it is not accurate at all for me, doing a 360 of the device leaves me 70 degrees off from what I started at. Do you run the self test on the DMP before you do anything ?
What DMP firmware are you running on the ICM? I got mine from the package. Maybe you could upload it to git so I could take a look, would be much appreciated.

[orrsrour]

Hi Alex, great work!
Small question - do you know / have references to which registers/area spaces of the ICM20948 DMP memory space you need to store and load in order to preserve calibration data?

[hcklawrence]

Hi Alex,
I am doing a school project about IMU sensor. Your solution is impressive that it could do self calibration. I was trying to do that but I have no clue. I am using ESP32 and ICM20948, and using madgwick filter to get quaternion. It is quite good if the accelerometer, gyroscope and magnetometer are calibrated, which the process is so difficult to achieve a good calibration.

May I ask that how your self calibration algroithm is working? Is it because you have multiple IMU in a single system so they could help to calibrate each other? Thank you so much.

[glitch]

Can you please tell me how you connected the BNO058 with raspberry pi ? I am having no luck getting it to read anything. Do you have any diagram ? Thanks

[binariti]

Алекс, а если посмотреть на рынок этих 9dof модулей в целом, то где эти модули будут находится в общем рейтинге? И что будет в топ3?

[chihebsabri]

Which softwares are u using how the calibration worked automatically?