Yaw estimate error

1

Hello everybody,
I am currently working on an autonomous drone without GPS, I am getting the estimate error frequently I don’t understand what is the problem with my drone. can anyone help me by giving the solution

2

Hi , Can you share which hardware you are using .

3

Thank you for your response,
I am using the YD Lidar(2D) G2
for feeding x,y and tfmini single point Lidar for feeding the z to the pixhawk (PX4 V1.15).

4

Okay . May i ask which pixhawk
2.4.8 , 6c ?

5

Pixhawk 6x is my flight controller

6

Hmm . Okay .
Since you are using LiDAR as x,y and z feed . usually , it doesnt contribute towards yaw calculation. So we have to look into the Flight controller IMU itself
Assuming you have properly calibrated it and there is no damage / issue with your FC

Ill give a few areas to look for based on personal experience and theory

  • See if the FC is properly mounted to avoid excessive vibrations if any . (Using damper)
  • Look into the state space estimator . Since 6x has redundant IMU , you can opt for the EK3 sensor fusion instead of the EKF2 (Default) and compare the sensor data differences for any inaccuracies in one.
  • Look for wiring that may cause EMI/EMC issues onto your IMU .
1 Like
7

Thanks, I will try and update it

8

This is neat project. You might want to further follow Space LM ( please google it ) to make it even space aware while in autonomous mode.

Good luck