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    Difference in IMU characterization - 42688 p on voxl

    VOXL Flight
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    • J
      Jagatpreet Singh Nir
      last edited by Jagatpreet Singh Nir 28 Mar 2023, 21:16 28 Mar 2023, 21:14

      I was trying to understand the noise characteristics of the IMU - ICM 42688p on Modal AI M500 drone that has a VOXL board . I am trying to find the best IMU that I can use for my VIO application. I have another board with the same IMU - ICM42688p on it.

      I collected stationary data for several hours on VOXL board and DK42688 board that I ordered and then plotted the allan deviation plot as shown in the figure. I am getting very different results for Allan deviation between VOXL and DK42688 board.
      For comparison I also plotted Allan deviation of VN100 IMU (https://www.vectornav.com/products/detail/vn-100).

      Can someone explain why the VOXL-IMU0 has more noise? Are there any settings which need to be done so that I get a similar behavior from DK42688p board?comparison_voxl_icm42688p_vn100.png

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      • C
        Chad Sweet ModalAI Team
        last edited by 29 Mar 2023, 05:12

        You should compare the settings as configured in the code here. We provide the code so you can fork and implement your own configuration if needed

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