IMU_teensy4

Communication

Language

Overview

Quaternion based IMU with Extended Kalman Filter (EKF) for Teensy 4.0 .

BMX055 is employed as the 9-axis motion sensor to measure the angular velocities and the magnetic fields.

Directory

├─Calibration
│  └─Mag_bias_log
└─memo    

Hardwares

• MCU board : teensy 4.0
• 9DoF motion sensor : BMX055 (https://akizukidenshi.com/catalog/g/gK-13010/)

Initial setting for AE-BMX055

Arduino sketches

• test.ino : main
• EKF.ino : Extended Kalman filter code to estimate attitude
• BMX055.ino : Code to measure the angular velocities and the magnetic fields via BMX055

Required library for arduino IDE

• Eigen https://www.arduino.cc/reference/en/libraries/eigen/

Matlab (R2007b - )

• plot_3D_attitude.m : Code to plot the attitude estimated by IMU (Please modify the COM Port Number for your PC)
• plot_Mag_field.m in ./Calibration/Mag_bias_log/ : Calibration for a magnetic sensor from logged data; "Mag_bias_log.txt".

Data format of "Mag_bias_log.txt": [time s] [acc x m/s^2] [acc y m/s^2] [acc z m/s^2] [mag x a.u.] [mag y a.u.] [mag z a.u.]

Connections

Demonstration movie

Wiring