Understanding Sensor Fusion and Tracking, Part 2: Fusing a Mag, Accel, & Gyro Estimate 

As an engineering student, I cannot stress enough how grateful every one of us is for the existance of Brian Douglas.

Wow - this is really awesome. Great explanation, superbly prepared, this is one of the best tutorials I saw so far in terms of didactic methods and visualization of a complex topic.

Please continue this series......Its very nice and interesting to learn.

I posted a criticism, but I am really enjoying this content. Looking forward to more

I am currently working on MPU9250, from scratch, for my rover to track location and orientation underground. This is my first time using such sensor and literally everything about this sensor, and this video is so helpful! I understood everything and made me understand the basics enough for me to make simple algorithms, maybe? I still need a lot of things to learn, but this series is so helpful. THANK YOU SO MUCH BRIAN!

Astonishingly good. Thank you.

Great Job Brian!!!!

it is the lesson that i need at the moment. i started to learn control to build my own flight controller. going through control theory, sensor fusion, kalman filter etc lessons i believe i will achieve my goal. thank you so much brian.

this is great!

Good lectures briyan!

I don't care for the MATLAB language, but they make some damn good video lessons.

Great content!

GREAT, THANKS!

Hi Brian, thanks for taking the time to make the videos, they're very helpful. But I was wondering if you could provide me with some references to the subject of system Identification methods (books or videos). Thank you in advance.

Thank you for sharing.

Thanks for this video

Thanks for the nice video. I have a precision to bring about magnetic metals: hard irons keep a residual magnetic field after contact with a magnet (like a steel screw driver), whereas soft irons are attracted by magnets but they don't keep a field, like cast iron and many soft steel plates used in magnetic systems (transformer cores, pots around magnets, etc) Weirdly enough this is a mix of crystallography and quantum effects.

I felt that the lecture contained a massive amount of information and required some good deal of prerequisite knowledge. Does anyone else also feel the same way? If you do can you tell me how you covered that knowledge gap ?

Brian, I’m trying this in an airplane, but in a coordinated turns the sensors would read 0° roll as the gravity vector is pointing down (relative to the aircraft). How is this issue solved? Should I use a different fusion method?

When an object rotates in uniform circular motion, the acceleration is not tangent to the circle, but rather towards the center of the circle. The narration, together with the pictures, implied that the acceleration was tangential. That only happens if the object, in addition to traveling in a circle, changes its speed.

thanks a lot ^_^

Nice video; but I would like to ask a question. Is there some equations/formula for these features how to estimate the position or how far a drone is traveled (would you give more information regarding this too please)? I just want to understand how to apply these on coding section later on, thank you.

Is it possible to use the same concept but with a camera?

How do you do the down(gravity) estimation when the imu is moving and not stationary(4:10)? Is it even possible if i dont know the initial orientation of the sensor?

Great Video. Could you comment on how difficult it would be to do this on a Raspberry Pi?

hi, mind if i ask which font were you using in matlab? it looks pretty to my eyes and i haven't been able to find it on the internet.

Is there any code implementation for 'Corrupting Linear Accelerations'?

how to validate the x, y, z,value if its correct or not

with gyro and accelrometer can I measure the orientation

I have a Arduino Nano 33 BLE, and am willing to use it's IMU to make a head tracking device... Any suggestions what to use best? Thanks...

This video helps me a lot!! But I was wandering that at 3:07 why could we measure the upward acceleration? Since the phone remained stationary on the table, the total force on it should be balanced and thus be zero. Therefore the phone should not experience any acceleration, right? hope somebody could answer that for me. Thanks!!

how can we get this code into the microcontroller?

Any thoughts on the 9 DOF chip, LSM9DS1? Wouldn't implementing sensor-fusion be easier if it's all from one chip? For example, I saw another cool Processing project, but that too doesn't use the ST chip, instead the ADXL345.. "ADXL345 accelerometer breakout board + Arduino and Processing"

how am I just finding this channel sigh

can not we use a multism to implement the circuit the sensor and arduino kit

VERY IMPORTANT! what's the matlab font?

can you please explain how east is cross product of down and magnetic field

Expected sensor not detected. Connect the right sensor to the hardware and try again. I connected to Mpu9250 and arduino. How can i fix this problem??

9:00 calibrating

I NEED to know what the matlab font is

12:06 Can anyone tell me what sample delay is?

plz someone tell me what's the font. i still haven't found it... i can't take it anymore

what is expMFS?

한국어 자막 너무 감사하다

I am getting this error --> Incorrect I2C device connected. Expected I2C addresses: [0x0C]. Detected I2C addresses: [0x68]. how overcome this

any one can help me i am trying the same code in the vedio but i got an error Incorrect I2C device connected. Expected I2C addresses: [0x0C]. Detected I2C addresses: [0x68]. any one can help me plzz

(0:00 - 2:00) Introduction to the concept of orientation and different ways to represent a rotation such as roll, pitch, yaw, Direction cosine matrix, YZ, and quaternion. (2:00 - 4:00) Explanation of how to estimate orientation using a magnetometer and an accelerometer. The video explains how to measure the phone's acceleration and the magnetic field to determine the direction of gravity and north. (4:00 - 6:00) Discussion of the problems with the simple implementation of the orientation estimation, including the effects of linear accelerations and disturbances in the magnetic field. (6:00 - 8:00) Explanation of how to calibrate the magnetometer to correct for hard and soft iron sources that distort the magnetic field measurements. (8:00 - 10:00) Discussion of how to deal with corrupting linear accelerations by predicting them and removing them from the measurement, or by ignoring accelerometer readings that are outside of a certain threshold. (10:00 - 12:00) Introduction of the gyro to measure the angular rate of the system and explanation of how to estimate orientation for a rotating object using just the gyro. This process is called dead reckoning. (12:00 - 14:00) Discussion of the downsides of dead reckoning, including the need to know the initial orientation and the drift away from the true position due to sensor bias and high-frequency noises. (14:00 - 16:00) Explanation of how to use sensor fusion to combine the estimates from the accelerometer, magnetometer, and gyro to minimize their weaknesses and maximize their strengths. (16:00 - 18:00) High-level explanation of how the blending of the two solutions (accelerometer and magnetometer vs gyro) works in sensor fusion algorithms like the complementary filter or the Kalman filter. (18:00 - 20:00) Demonstration of how to implement the sensor fusion algorithm in MATLAB using the function ahrsfilter. (20:00 - 20:32) Conclusion and introduction to the next video, which will add GPS to the IMU and orientation estimate to improve the position obtained from the GPS sensor.

i need answer place if possible to design the circuit using proteus and integrity it with matlab code,show us??????????????????????????????

time 6:19 the direction of the acceleration is not correct, at least misleading. Normally when we talk about the acceleration of rotation, it's talking about centrifugal force.

This is how Ingenuity gets around on Mars

I need an urgent answer, please! I used MPU9250 to get the x, y, and z axes' values for the accel, mag, and gyro but I didn't know how to use them to calculate the angle of the sensor from the floor. please help! PS, very useful explanation in the video.

I want to study about AHRS. can anyone explain to me, what should be learned? and what are the steps to learn it? Thanks

Did he say "subscribe for future tiktok videos"? LMAO. Great video btw.