J.Bryan
Posts: 15
Joined: Tue Aug 01, 2017 2:44 pm

Orientation of the mounted gyroscope and accelerometer's axis

Tue Feb 13, 2018 1:52 pm

Dear All,

I would like to get some advice and help on my sensor's placement.

I have two sensors on my robot, one of it is the Accelerometer:

Image

Another sensor is the gyroscope:

Image

I know how to read the raw data of the accelerometer and convert it to it's pitch and roll. Similarly, I also know how to read the raw data of the accelerometer and convert them to dps for each axis.

From my research I understood that the xyz axis can be represented by:

Roll - Rotation about the x axis.
Pitch - Rotation about the y axis.
Yaw -Rotation about the x axis

On my robot I mounted the sensor in this manner:
https://drive.google.com/file/d/1GeUxvu ... 7-5gg/view
(I realise that the image is not displayed in the thread so I attached a link, I am sorry.)

In my actual application, I am only concern about rotating around the y axis of the accelerometer (The sensor on top).

I would like to do a sensor fusion on the data e.g kalman. When I pass in the y axis's calculated pitch data from trigonometry into the kalman filter, do I pass in the x-axis data or y-axis data of the gyroscope (sensor on the bottom) into the kalman filter.

I have some confusion as the xy axis's orientation of both the sensor is different. Is it more correct to use the x-axis's data of the gyroscope (as it is in the same direction as the y-axis of the accelerometer) or is there more to it?

Thank You!

User avatar
OutoftheBOTS
Posts: 487
Joined: Tue Aug 01, 2017 10:06 am

Re: Orientation of the mounted gyroscope and accelerometer's axis

Tue Feb 13, 2018 8:00 pm

Ok to understand what the data that comes out of these sensors.

The gyro isn't a gyro but in fact reads centrifugal force i.e the rotation speed around an axis

The Accelerator doesn't just read acceleration but in fact reads the linear force. It will read the pull of gravity when no acceleration is happening then if acceleration is happening then it will read the pull of gravity plus the forces applied by the acceleration.

Hopes this helps you :)

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