IMU Covariances

Dong_Liu

The IMUReport has accuracy field. But it doesn't have the full covariances. I guess the sensors must already report them. Is it possible to get covariances? It is really helpful for sensor fusion.

Thanks, Dong

Brandon

Not sure. Will ask.

Brandon

Looks like the sensors don't report this. And we can't find anything in the datasheet. So it seems unavailable unfortunately.

Sorry about the bad news.

Dong_Liu

But the accuracy is reported by the sensors, right?

Thanks,

GergelySzabolcs

Dong_Liu

It's reported, but not as a value.
It's reported as: UNRELIABLE, LOW, MEDIUM or HIGH.
BNO086 (the IMU) runs a closed source firmware from CEVA, to which we don't have access, so we don't know about implementation details.
Accuracy is reported only for rotation vector in radians.

Dong_Liu

Thanks!