Extend Kalman Filter (EKF) for a 9-DOF IMU (LSM9DS1) by Python

I used the calculation and modified the code from the link below. It did not work right away for me and I had to change a lot of things, but his algorithm implementation was great. So, try your best if you run into any problems and you can make it work yourself.

Huge thanks to the author for sharing his awesome work:

His youtube channel:

[BicycleName]

Just stumbled upon that today, I'm trying to learn more about Kalman filter and other "denoising" technics for my physics course in college. This video is really inspiring and I'd love to do a similar project in the future.

[muggimc]

Nice work… just noticed that your yaw output is not tilt compensated

[JayDee-bu]

How is the response when you shake it violently? Mine works with smooth transitions but falls to pieces with large acceleration, linear and angular.

[DanyWay]

Could you please explain why the Pitch value is 180 when you only changed the Roll by -90 degrees?

[bennguyen]

It's a shame that there's no official support for the ST LSM9DS1 with ST's X-CUBE-MEMS1's MotionFX sensor-fusion library.

ST also has AlgoBuilder / Unicleo-GUI, but I'm looking at doing the sensor-fusion with RTIMULib / python-processing.. although I don't know how well it compares the Extended Kalman Filter Implementation / pygame.

[jeanpaulberrios]

Hi Hien, I need to get the absolute angles XY plane as example
My question is if you turn off the sensor to then turn On on different position, the calibration is requiered again

[graphicsvending]

What sensor are you using?
Could you share more?
I tried the algorithm implement on M5StickC and it is quite jitter...

[theodosisable]

Are you using a Kalman Fusion algorithm or a complementary filter? It is obvious that the output r.p.y set has a lot of noise. Also for the magnetometer calibration did you use an ellipsoid fitting method or did you only account for the hard and soft iron perturbations?
The link does not work. Have you got anything in mind on how can I get in touch with the admin of that site?
Many thanks in advance.

[schwi]

hey can i see your LSM9DS1 arduino code ? work on gy - 951 but have trouble to send my sensor data into python

[salmantechnologies]

his website is not workimg if you have the code kindly give in the description or here

[VeereshDammur]

Its a nice video. I am also using LSM9DS1 to visualize the orientation of the IMU. Would it be possible for you share the code of your project? Thanks in advance.

[glitch]

I just sent you a note on linkedIn I am stuck and I need help to finish up project. Thank you