xiotechnologies / gait-tracking Goto Github PK

Hello,

First I would like to thank you for the experiment you did and the information so rewarding.

I am a civil engineering student and I want to use the IMU sensor to determine the displacement of a particle.

I am currently using a WitMotion Bluetooth BLE 5.0 9 Axis WT901BLE sensor.

For the calibration of the sensor, I use the software provided by the company Witmotion.

The recording is done by a frequency of 20 Hz. I try to have first simple displacements, like 30 or 50 cm on the X axis.

I entered my data in your code by changing the frequency, but I still get zero speed and zero displacement.

Can you tell me if this code can work in my case, if so what are the parameters to change?
If not, can you direct me to other codes, or what do you recommend?

Thank you

Hi, can you exaplain why you multiply the earth acceleration by the gravitational acceleration (9.81)?

Hello！Can you tell me where the "import imufusion" in your code comes from?

hello,

I would like to try out your code howeveer I get the following errror with the importation of imufusion :

import imufusion
ImportError: numpy.core.multiarray failed to import

Did you already encounter this problem or do you have an idea of how to fix it?

The imufusion library in gait_tracking.py is not available. Could you help to fix tt? Thanks so much!

I want to use my own data from my own IMU. I was wondering how important is it that the timestamps on the 2 sets of sensors match?
Does the code expect an exact sample rate or an average sample rate? (my sensor is able to get an average of 50 hz, but its not perfectly logging every 0.002 seconds)

Hi,
the python code seems to be intended for use with a previously recorded dataset in determining how to deal with the moving/non-moving moments of time. Some questions to that:

1. Do you have a working version for real-time analysis (python or c/c++) ?
2. the recording and the analysis is done for data at 400Hz. Would it work with data with less resolution (~200Hz) ?
3. my sensors can do either 400Hz without oversampling, or 200Hz with 2x oversampling, or 100Hz 4x oversampling. With which combination does it make sense to record? (trade-off between number of measurements and low variance)

Thanks

Hello, thank you very much for your project which helps me a lot. However I wanted to test your code and I get this error:

AttributeError: module 'imufusion' has no attribute 'CONVENTION_NWU'

I'm sorry if this is a silly question but I'm a beginner. I checked that the latest version of imufusion was installed. I'm working on conda, maybe that's where the problem comes from?

Thanks in advance for your help.

Hello @xioTechnologies ,

First of all, thank you for your great work on this Gait-Tracking algorithm.
I'm working on an IMU project using the STM32 lsm6dsr sensor, and I'm having issues with dropping over 1 meter on the Z axis (please take a look at the pictures on the links below).
X-Y Plane.png
X-Y-Z Plane.png
Do you have an idea what can be issuing this dropping on the Z-axis, or what I can do to decrease it? The test was made on a flat surface, and it shouldn't be any movement around the Z-axis. I have used data from a gyroscope and accelerometer.

Thank you in advance and best regards,

Dragan

@xioTechnologies
Hi, Thanks for your great work.
I'm going to do a dead reckoning using IMU in a mobile robot.

For this algorithm, I understand that speed and position are obtained through integration only if there is acceleration.
For constant velocity motion, the acceleration value is very small.

Then can I use this algorithm even in the above situation?
If it's not suitable, do you have any algorithms to recommend in my situation?

I'd appreciate it if you could answer me.
Thanks,

Hi, how to get the imufusion source? Thank!

Hi, thanks for your code!

When I run project with my own data, I find the Yaw has a error compare to real value.

Maybe it will cause the error for gait-tracking