RAZOR IMU problem on flight

Sensors IMU & Motion
1

Hello all!

I´m using a razor IMU on flight, but I´m getting bad measurements, compared with Pixhawk AHRS. I´ve made different things:

  • Callibration

  • Testing with the Complementary filter

  • Testing with Madwick/Mahony filter

  • Testing with EKF filter.

On ground the IMU works perfectly, the problem become on flight, once the UAV is launched by catpult, the measurement start fail… Anybody can help me how to solve?

Thanks

2

Hello jesmarsan4,

In what way is it failing? Are you getting zero values, bogus values, or no logging at all?

3

The problem is, that the estimated angles are very different from the one that I obtained from the pixhawk… very very different.

Thanks

4

Could you provide some example data from both modules?

5

Hello,

Attached some grahps, we launch the UAV with a catapult.

Thanks!

pitch_comments.png
pitch_comments.png2355×1117 142 KB

roll_comments.png
roll_comments.png2355×1117 170 KB

aceleracion_x_comments.png
aceleracion_x_comments.png2355×1117 115 KB

6

Do you have the acceleration scaled by 2g, 4g, 8g, or 16g?

Can you try replicating jerks or fast motions the sensor would see if it was on the UAV while not on the UAV?

7

Hi,

it´s configured at 16g´s., and what we see during ground tests is that with fast turns we observe that there is a multiplicative error, instead when we turn slowly the values are more or less the same.

Thanks

8

Do you have any idea please?

9

Are you able to swap out the module for another one?

10

Yes! I have tested with 3 different units, but always the same… :frowning: