IMU Plugin Produces Seemingly Incorrect Accelerations

Tools + Plug-ins
1

Hello,

I am using this IMU plugin but it does not seem to work well. Is this plugin tested and ready to use or is more in “use it at your own risk” ? Is it possible that I am misinterpreting the results or misconfiguring something?

I use a vehicle trajectory that I know contains only reasonable accelerations however the IMU plugin seems to produce insane accelerations. For example, see the -352 m/s^2 in the data below:

{
“acceleration”: [
4.540054988202072e-07,
8.753551827326493e-08,
-9.79305837460853
],
“angularvelocity”: [
5.917377822497385e-05,
-3.363472936946394e-15,
2.10084107903763e-09
],
“elapsed”: 916998
}
{
“acceleration”: [
-1.0419399753364772e-05,
-352.5117411468096,
-9.48679033874481
],
“angularvelocity”: [
5.917377822497644e-05,
-3.3702278641184234e-15,
2.100841079037523e-09
],
“elapsed”: 916999
}

2

Dear @rllu,

We successfully received your inquiry. To better support you on this issue, please send your Skydel trajectory and configuration to our customer support email at simulationsupport@nav-timing.safrangroup.com.

Regards

3

Hello,

I have a question related to this topic. At file dynamic.cpp, method pushPosition, the angular velocity is calculated in the following way:
m_datas[1].angularVelocity = (m_datas[1].attitude - m_datas[0].attitude) / dt_1_0;

Wouldn’t it make more sense to do:
m_datas[1].angularVelocity = (m_datas[2].attitude - m_datas[0].attitude) / dt_2_0;

as we are doing to calculate the velocity and the acceleration?

4

We have intentionally chosen to compute the angular velocity in this specific manner. However, you are welcome to modify the calculation of the angular velocity according to your requirements and preferences. Feel free to make adjustments that suit your needs :slight_smile:

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