IMU sensor fusion going wrong

Hi everybody.

I'm reading data from inertial sensor OOPENIMU300RI by Aceinna.

What I do is to read them in a GUI in Python, save the data in a JSON file and then create a txt file for every quantity (x, y, z speeds and accelerations).

After reading the data, I plot them on MATLAB and everything seems fine about it.

The problem start when I use the imufilter to get the orientation starting from acceleration and gyro data.

For example, If I read and save data while keeping the IMU still, this is what I get:

As you can see, angular velocities and acceleration are alright, but that's just data that I'm reading from the sensor.

About 'Yaw' and 'Pitch' there is a little offset, but it seems to be ok when it start reaching a costant value (which Is, in this case, almost 2).

I don't understand the 'Roll' behavior.

Can someone help me about it?

Answer 1

[Gabriele Scordamaglia]

UPDATE: I solved the problem by increasing the imufilter sampling rate from 100 Hz to 1000 Hz.