Pigeon 2.0
User’s Guide
___ www.ctr-electronics.com ______________________ 1/31/2022
Cross The Road Electronics Page 16 ____________________________ 1/31/2022
4. Boot behavior
Most IMUs requires no-motion during boot-up to tare the gyroscope, thereby reducing yaw drift. This includes the
original Pigeon IMU (version 1.0), and several competitor IMUs.
Pigeon 2.0
, however,
does not require no-motion during boot-up
. This is because Pigeon 2.0 can
predict the
gyroscope bias during boot-up.
This allows it to produce reasonable heading information immediately on boot,
even when in motion.
This is a particularly important feature to resolve complications due to:
•
IMU is booting up in environment with vibration sources (fans, compressors, user-handling)
•
IMU is booting up with extremely loud music in near proximity (also a vibration source)
•
IMU is booting up while users are moving platform
•
Cannot
guarantee that users will ensure IMU is “ready” before executing robot action.
For more information on the drift rates in various configurations, see
Section 1.3. Electrical Specifications