英文:
Calibrating MPU6050
问题
我正在使用 MPU 6050 和树莓派 Pico 制作一个IMU。
我已将加速度计的量程设置为+-2 g，但存在0.96 g的偏移，这严重限制了正侧的感测范围。
我编写了一个校准程序，它可以正常工作，其中我们显式地将偏移添加到数据中。
def calibrate(i2c):
temp=0
accel_x,accel_y,accel_z,gyro_x,gyro_y,gyro_z=0,0,0,0,0,0
for i in range(10000):
temp += read_raw_data(i2c, TEMP_OUT_H) / 340.0 + 36.53
accel_x += read_raw_data(i2c, ACCEL_XOUT_H) / 16384.0
accel_y += read_raw_data(i2c, ACCEL_XOUT_H + 2) / 16384.0
accel_z += read_raw_data(i2c, ACCEL_XOUT_H + 4) / 16384.0
gyro_x += read_raw_data(i2c, GYRO_XOUT_H) / 131.0
gyro_y += read_raw_data(i2c, GYRO_XOUT_H + 2) / 131.0
gyro_z += read_raw_data(i2c, GYRO_XOUT_H + 4) / 131.0
print('校准完成')
t=temp/10000
a_x=accel_x/10000
a_y=accel_y/10000
a_z=accel_z/10000
g_x=gyro_x/10000
g_y=gyro_y/10000
g_z=gyro_z/10000
是否有方法可以校准传感器并仍然获得完整的范围？
英文:
I using a MPU 6050 and raspberry pi pico for making an IMU.
I have set the range of accelerometer as +- 2 g but there is a .96 g offset this severly limits the sensing range on the positive side.
I have written a calibration program which works fine in which we explicitly add the offsets to the data
`
def calibrate(i2c):
temp=0
accel_x,accel_y,accel_z,gyro_x,gyro_y,gyro_z=0,0,0,0,0,0
for i in range(10000):
temp += read_raw_data(i2c, TEMP_OUT_H) / 340.0 + 36.53
accel_x += read_raw_data(i2c, ACCEL_XOUT_H) / 16384.0
accel_y += read_raw_data(i2c, ACCEL_XOUT_H + 2) / 16384.0
accel_z += read_raw_data(i2c, ACCEL_XOUT_H + 4) / 16384.0
gyro_x += read_raw_data(i2c, GYRO_XOUT_H) / 131.0
gyro_y += read_raw_data(i2c, GYRO_XOUT_H + 2) / 131.0
gyro_z += read_raw_data(i2c, GYRO_XOUT_H + 4) / 131.0
print('calibration done')
t=temp/10000
a_x=accel_x/10000
a_y=accel_y/10000
a_z=accel_z/10000
g_x=gyro_x/10000
g_y=gyro_y/10000
g_z=gyro_z/10000
is there any way in which i can calibrate the sensor and still get full range?
答案1
得分: 2
0.96 g是重力加速度，必须来自垂直轴（通常是z轴）。这不是传感器偏差。包括在加速度计加速度测量中的是重力加速度。所以答案是否定的。重力会占据部分测量范围。
要了解典型加速度计读数的感觉，请查看来自https://imuengine.io/resources/的样本数据集。以下是汽车数据集的前几个IMU条目，其中z轴通常指向下。将单位从m/s²转换为g，您将看到大致相同的1 g来自重力。
TimeFromStart (s) AccelX (m/s^2) AccelY (m/s^2) AccelZ (m/s^2) AngleRateX (rad/s) AngleRateY (rad/s) AngleRateZ (rad/s)
49.27 0.0065134831 0.1535978052 -9.8256081343 0.0033288721 0.0021099924 -0.000368629
49.28 -0.1163793611 0.1524602878 -9.7294434905 -0.0014737246 -0.001269474 -5.3143600000000004e-05
49.29 -0.1772884163 0.1816529664 -9.833201021 -0.0009057809 -0.0002318527 -0.0004045664
也可以测量“减去重力的加速度”，但需要传感器融合的一层。如果传感器倾斜，原始帖子中显示的方法将失效。如果这是您需要的内容，请随时发布详细要求的新问题。
英文:
The 0.96 g is gravitational acceleration and must be from the vertical axis (typically z-axis). This is not a sensor bias. Included in the accelerometer acceleration measurement is gravitational acceleration. And so the answer is no. Gravity will take up part of the measurement range.
To get a feel for typical accelerometer readings check out a sample dataset from https://imuengine.io/resources/. Copied here are the first few IMU entries from the automotive dataset where the z-axis nominally points down. Convert the units from m/s^2 to g's and you see the same approximate 1 g from gravity.
TimeFromStart (s) AccelX (m/s^2) AccelY (m/s^2) AccelZ (m/s^2) AngleRateX (rad/s) AngleRateY (rad/s) AngleRateZ (rad/s)
49.27 0.0065134831 0.1535978052 -9.8256081343 0.0033288721 0.0021099924 -0.000368629
49.28 -0.1163793611 0.1524602878 -9.7294434905 -0.0014737246 -0.001269474 -5.3143600000000004e-05
49.29 -0.1772884163 0.1816529664 -9.833201021 -0.0009057809 -0.0002318527 -0.0004045664
Measuring "acceleration minus gravity" is also possible but requires a layer of sensor fusion. The method shown in the original post falls apart if the sensor is tilted. Feel free to post a new question detailing the requirements if that is what you need then.
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