CHR-6d, US$125, 1.5grams 6DoF IMU

Did anybody use "CHR-6d Inertial Measurement Unit" (US$125, 1.5grams 6DoF IMU) in his/her UAV?

Views: 440

Comment by Tom Yochum on November 20, 2009 at 9:38am
We have one and are ready to collect data with it. It is tiny! We will share some of our results once the weather clears up and we can go flying. (That may take a while...)


Comment by Morli on November 21, 2009 at 5:42pm
'wait a little longer and CHR-9d Inertial Measurement Unit "Coming soon" as per website ??!! i can imagine the 6Dof but can anyone explain or hint regarding the additional 3 dimensions , where/what r they?? in 9Dof , thanks

3D Robotics
Comment by Chris Anderson on November 21, 2009 at 5:51pm
That usually means a three-axis magnetometer. Not technically accurate to call it 9DoF but everyone does so anyway.,...

Comment by Morli on November 21, 2009 at 8:05pm
thanks Chris , but then why or what is different from 6Dof , and why does the manufacturer mislead if thats what it is ? or do i need to read detailed paper about it some where ?.:)(
Comment by Tom Yochum on November 22, 2009 at 10:24am

As Chris said, the 9-DOF means magnetic is included. It is not correct, but it is an easy mistake to make.


3D Robotics
Comment by Chris Anderson on November 22, 2009 at 10:37am
The inclusion of a magnetometer can allow a complete attitude solution without a GPS. Good for inside or other GPS denied environments.
Comment by Edouard H on November 23, 2009 at 6:29am
Using GPS velocity to infer a reference vector (UAV nose) is not ideal though. In side-wind situations for example. Having a Magnetometer allows to have a cleaner reference vector for attitude correction. Biggest drawback is to account for local magnetic field perturbations and cancel them out. Not a simple problem with our electirc UAVs.
Comment by Caleb Chamberlain on November 25, 2009 at 11:59am

I did think of the IMU with mag. outputs as a 9-DOF sensor, which is incorrect. I've since updated the page to correct my mistake. :-)

Comment by Morli on November 25, 2009 at 3:19pm
ok Caleb , thanks for clarification , I didn't mean to point any mistake , just couldn't understand 9 directions !!! , As i understand now it is 6 DOF IMU + magnetometer + gyro, It is still a impressive product. Would love to see a A/P application with this product in MAV :)
Comment by smartsam0007 on December 9, 2009 at 12:58am
hello people....i am using 3DM GX1 and 6dof v4 ( bluetooth enabled )
i want to know about this CHR 6D ..... is it reliable ?? i mean how much error do you get for measurements ?
and what is the output format ??
do we have to convert the output values using some formula to get the desired values in desired units ?? ( i mean as in 6DOF v4 , it gives adc values which need to be converted )
please reply asap.....


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