Hi guys,
I’m currently trying to filter out the gyro noise using 2 static notch filters and a low-pass filter. I’m not sure if the settings are appropriate, and also worried about the negative effect of mechanical vibration ( maybe other noise).
According to the Angular Velocity Power Spectral Density diagram shown below, I set the FRQ and BW of the notch filter for fundamental frequency as (76Hz, 20Hz) and (150Hz, 20Hz) for the 2nd. harmonic.
And based on the Actuator Controls FFT, I set the low-pass filter to 40Hz, 20 Hz for IMU_Gyro_CUTOFF and IMU_DGYRO_CUTOFF, respectively
The question is: Raw Angular Speed (Gyroscope) diagram seems very excessively noisy, as shown below. Do you think this may indicate potential mechanical vibrations (I also attached Vibration Metrics below for reference) or other kinds of noise? Or maybe it’s normal, I shouldn’t worry too much about this, and just step into rate pid tuning?
Any feedback is appreciated! Thanks in advance!
Best Regards,
Zzang