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IMU 2.0 sensor fusion question

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Hi,

 

If I set the sensor fusion to not include the magnetometer for while (when a robot goes through an environment with magnetic interference), and then turn on the magnetometer after it´s ok again, will the IMU still ignore the interference it traveled through or will it include it anyway when I turn on the magnetometer ?

For example, my robot relies on absolute heading, but in certain paths I have high interference that will make the calibration go crazy, but if I could turn the robot in the right direction and then turn off the magnetometer and only rely on relative heading for a while, and then turn on magnetometer when I´m on the other side. Will this idea work ?

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This is really hard to tell if it will work well, you will probably have to try it out.

 

The fusion algorithm is part of the IC that we use (Bosch BNO055), the algorithm is unfortunately propitiatory and we don't exactly know how it works.

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