0
저는 BNO055 IMU를 사용하고 있으며, 때때로 이동하는 동안 쿼터니온 신호에서 "점프"를 보게됩니다. 이게 정상인가? 다음은 샘플 플롯입니다. 
불연속 쿼터니온 신호
첫 번째 플롯은 스칼라 값이고 나머지는 세 개의 벡터 구성 요소입니다.
나는 이것이 오일러 각은 있지만 쿼터니언은 그렇지 않다고 가정했습니다. 내가 빠진 것이 있습니까? 단위 쿼터니언의 측면 ([cos(phi), sin(phi) * rotAxis]로 건설되고), 더 적절에서, 또는 -
0.4978 0.37885 0.65814 -0.41888
0.49774 0.37854 0.65778 -0.41986
0.49762 0.37842 0.65759 -0.42035
0.49878 0.37616 0.6582 -0.42017
0.49878 0.37561 0.65784 -0.42114
0.49872 0.37537 0.65765 -0.42175
0.49933 0.3736 0.65802 -0.42206
0.49902 0.37347 0.65753 -0.42328
0.49896 0.37335 0.65735 -0.42371
0.49921 0.37189 0.6579 -0.42383
0.49872 0.37164 0.65771 -0.42499
0.49841 0.37158 0.65784 -0.42517
0.49854 0.37042 0.65881 -0.42444
0.49792 0.37042 0.65936 -0.42444
0.4975 0.37048 0.65961 -0.42456
0.49768 0.36932 0.66034 -0.42413
0.49701 0.36957 0.66034 -0.42468
0.49664 0.36975 0.66022 -0.42511
0.49719 0.36823 0.66083 -0.42487
0.49658 0.36877 0.66028 -0.42596
0.49622 0.36908 0.65991 -0.42664
0.49683 0.3678 0.66034 -0.42645
0.49609 0.36841 0.65973 -0.42767
0.49573 0.36871 0.65948 -0.42822
0.49658 0.36713 0.66003 -0.42773
0.49591 0.36768 0.65948 -0.42889
0.49554 0.36798 0.65918 -0.4295
0.49658 0.36572 0.66016 -0.42877
0.49554 0.36639 0.65942 -0.43048
0.49493 0.36676 0.659 -0.43158
0.49426 0.36682 0.65857 -0.43292
0.49316 0.36774 0.65765 -0.43475
0.49274 0.36816 0.65723 -0.43555
0.49261 0.36768 0.65717 -0.43616
0.49188 0.3681 0.65662 -0.43744
0.49152 0.36829 0.65643 -0.43805
0.4917 0.36719 0.65662 -0.43842
0.49091 0.36749 0.65619 -0.43976
0.49048 0.36768 0.65594 -0.44043
0.4903 0.36707 0.65607 -0.44098
0.48956 0.36713 0.65582 -0.44208
0.48926 0.36707 0.65576 -0.44257
0.48944 0.36591 0.65619 -0.44263
0.48926 0.36542 0.65631 -0.44312
0.48914 0.36511 0.65649 -0.44324
0.48962 0.36328 0.65741 -0.44281
0.48956 0.3623 0.6579 -0.44293
0.48956 0.36176 0.6582 -0.44299
0.4903 0.35937 0.65936 -0.44238
0.48993 0.35846 0.65967 -0.44305
0.48969 0.35815 0.65979 -0.44348
0.4903 0.35614 0.66077 -0.44287
0.48975 0.35596 0.66095 -0.44336
0.48956 0.35583 0.66101 -0.44354
0.48999 0.35449 0.66168 -0.44312
0.48969 0.35437 0.66174 -0.4436
0.48944 0.35431 0.66174 -0.44385
0.48932 0.35382 0.66193 -0.44409
0.48907 0.35364 0.66199 -0.44446
0.48895 0.35358 0.66199 -0.44464
0.48914 0.35272 0.66211 -0.44482
0.48883 0.35284 0.66193 -0.44543
0.48865 0.35297 0.6618 -0.4458
0.48938 0.35162 0.66229 -0.44519
0.48914 0.35193 0.66205 -0.44562
0.48901 0.35205 0.66199 -0.44574
0.48993 0.35059 0.66278 -0.44476
0.48999 0.35028 0.66309 -0.44446
0.49011 0.3501 0.66321 -0.44427
0.49097 0.34845 0.66425 -0.44305
0.49103 0.34814 0.66467 -0.44263
0.49103 0.34802 0.66486 -0.44238
0.49133 0.34747 0.66553 -0.44153
0.49152 0.34711 0.66608 -0.4408
0.49164 0.34686 0.66638 -0.44037
0.49274 0.34515 0.66766 -0.43854
0.49286 0.34473 0.66827 -0.43781
0.49298 0.34448 0.66858 -0.43744
0.49408 0.34259 0.66998 -0.43549
0.49445 0.34204 0.67065 -0.43451
0.49457 0.34174 0.67102 -0.43402
0.49518 0.34064 0.67194 -0.43274
0.49536 0.34015 0.67249 -0.43213
0.49536 0.3399 0.67273 -0.43188
0.49652 0.33789 0.67395 -0.43024
0.49652 0.33771 0.67426 -0.42987
0.49652 0.33765 0.67438 -0.42969
0.49738 0.33612 0.67535 -0.42834
0.49738 0.336 0.67566 -0.42804
0.49744 0.33588 0.67572 -0.42792
0.49835 0.33429 0.6767 -0.42664
0.49829 0.33423 0.67688 -0.42645
0.49829 0.33423 0.67694 -0.42633
0.49902 0.33276 0.67767 -0.42542
0.4989 0.3327 0.67767 -0.4256
0.49878 0.3327 0.67767 -0.42572
0.49908 0.33197 0.6781 -0.42535
0.49884 0.33209 0.67798 -0.42572
0.49872 0.33221 0.67786 -0.4259
0.49847 0.33228 0.67786 -0.42615
0.49835 0.3324 0.67786 -0.42627
0.49817 0.33252 0.67773 -0.42664
0.4986 0.33179 0.67798 -0.42627
0.49847 0.33185 0.67786 -0.42651
0.49823 0.33191 0.67773 -0.42694
0.4986 0.33105 0.67804 -0.4267
0.49854 0.33112 0.67798 -0.42682
0.49835 0.3313 0.67773 -0.42725
0.49829 0.33112 0.67767 -0.42761
0.49811 0.33118 0.67755 -0.42792
0.49786 0.33118 0.67743 -0.42841
0.49872 0.32953 0.6781 -0.42761
0.49866 0.32947 0.67804 -0.4278
0.49847 0.32947 0.67804 -0.42804
0.49847 0.32922 0.6781 -0.4281
0.49847 0.32922 0.67816 -0.42816
0.49841 0.32898 0.67822 -0.4281
0.49957 0.32697 0.67914 -0.42694
0.49957 0.32684 0.6792 -0.42694
0.49957 0.3266 0.67938 -0.42682
0.50031 0.32544 0.67993 -0.4259
0.50037 0.32532 0.68005 -0.42578
0.50049 0.32495 0.6803 -0.4256
0.50159 0.32306 0.68121 -0.42426
0.50165 0.32288 0.68127 -0.42413
0.50183 0.32251 0.68146 -0.42401
0.50256 0.32129 0.68207 -0.4231
0.50262 0.32117 0.68213 -0.42303
0.50269 0.32092 0.68219 -0.42291
0.50281 0.3208 0.68213 -0.42297
0.50287 0.32074 0.68213 -0.42303
0.50293 0.32068 0.68201 -0.42322
0.50323 0.32019 0.68207 -0.4231
0.50323 0.32019 0.68195 -0.42328
0.50323 0.32025 0.68182 -0.42346
0.50385 0.31934 0.68213 -0.42291
0.50385 0.31934 0.68207 -0.42303
0.50391 0.31934 0.68188 -0.42322
0.50513 0.31738 0.68268 -0.42194
0.50519 0.31738 0.68262 -0.42206
0.50513 0.31744 0.6825 -0.42218
0.50537 0.31708 0.68262 -0.42206
0.50537 0.31714 0.68256 -0.42212
0.50543 0.31708 0.6825 -0.42212
0.50629 0.31567 0.68311 -0.4212
0.50629 0.31567 0.68311 -0.4212
0.50629 0.31567 0.68304 -0.4212
0.50684 0.31482 0.68347 -0.42059
0.50696 0.31458 0.68359 -0.42035
0.50702 0.31451 0.68365 -0.42029
0.50757 0.3136 0.68402 -0.41974
0.50757 0.3136 0.68396 -0.41974
0.50763 0.3136 0.68396 -0.41974
0.50806 0.31287 0.68427 -0.41925
0.50806 0.31281 0.68427 -0.41925
0.50812 0.31281 0.68427 -0.41931
0.50867 0.31183 0.68469 -0.41858
0.50873 0.31183 0.68469 -0.41858
0.50873 0.31183 0.68469 -0.41858
0.50916 0.31104 0.685 -0.41803
0.50922 0.31104 0.685 -0.41803
0.50922 0.31104 0.685 -0.41803
0.51013 0.30957 0.68561 -0.41699
0.51013 0.30957 0.68561 -0.41699
0.51013 0.30957 0.68561 -0.41699
0.51044 0.30902 0.68579 -0.41663
0.51044 0.30902 0.68579 -0.41669
0.51044 0.30902 0.68579 -0.41669
0.51111 0.30792 0.68628 -0.41589
0.51117 0.30792 0.68622 -0.41589
0.51135 0.30768 0.68628 -0.41577
0.51135 0.30768 0.68628 -0.41577
0.51135 0.30762 0.68622 -0.41583
0.51208 0.3064 0.68677 -0.41498
0.51208 0.3064 0.68677 -0.41498
0.51215 0.30627 0.68683 -0.41492
0.51312 0.30463 0.68756 -0.4137
0.51324 0.3045 0.68756 -0.41364
0.51324 0.3045 0.68756 -0.41364
0.51385 0.30341 0.68799 -0.4129
0.51392 0.30341 0.68799 -0.41296
0.51392 0.30334 0.68799 -0.41296
0.51428 0.3028 0.68811 -0.41266
0.51434 0.30273 0.68805 -0.41272
0.51483 0.302 0.68835 -0.41223
0.51483 0.302 0.68835 -0.41223
0.51483 0.30194 0.68835 -0.41229
0.51495 0.30176 0.68842 -0.41217
0.51501 0.3017 0.68835 -0.41217
0.51501 0.3017 0.68835 -0.41223
0.51526 0.30139 0.68842 -0.41211
0.51526 0.30133 0.68842 -0.41211
0.51526 0.30133 0.68835 -0.41211
0.51593 0.30023 0.68872 -0.41144
0.51593 0.30023 0.68872 -0.41144
0.51611 0.29999 0.68878 -0.41132
0.51617 0.29987 0.68872 -0.41144
0.51617 0.29993 0.6886 -0.41162
0.51691 0.29865 0.68903 -0.41095
0.51691 0.29858 0.68896 -0.41101
0.51691 0.29846 0.68896 -0.41113
0.51703 0.29834 0.68884 -0.41125
0.51715 0.29822 0.68872 -0.41138
0.51721 0.2981 0.68872 -0.41144
0.51746 0.29767 0.68878 -0.41138
0.51752 0.29742 0.68878 -0.41144
0.51746 0.29761 0.6886 -0.41174
0.51752 0.29761 0.68854 -0.4118
0.51752 0.29761 0.68854 -0.4118
0.51776 0.2973 0.68854 -0.41162
0.51776 0.2973 0.68854 -0.41162
0.51776 0.2973 0.68854 -0.41162
0.5177 0.29736 0.68848 -0.41174
0.5177 0.2973 0.68848 -0.4118
0.51776 0.29724 0.68842 -0.41187
0.51831 0.29633 0.68872 -0.41138
0.51837 0.29639 0.68866 -0.41144
0.51831 0.29639 0.68854 -0.41156
0.51874 0.29559 0.68884 -0.41119
0.51874 0.29547 0.68884 -0.41125
0.51892 0.29517 0.68878 -0.41125
0.51898 0.29504 0.68878 -0.41132
0.51923 0.2948 0.68854 -0.41156
0.51959 0.29443 0.68829 -0.4118
0.52008 0.2937 0.68835 -0.41156
0.52032 0.29352 0.68799 -0.41205
0.52032 0.2937 0.68726 -0.41315
0.52045 0.2937 0.68695 -0.41351
0.52051 0.29388 0.68616 -0.41455
0.52063 0.2937 0.68585 -0.41504
0.52112 0.29291 0.68518 -0.41608
0.52179 0.29218 0.68427 -0.41736
0.52252 0.29144 0.68317 -0.4187
0.52313 0.29077 0.68274 -0.41913
0.5238 0.29041 0.68152 -0.42053
0.52417 0.29016 0.68103 -0.42102
0.52472 0.28906 0.68085 -0.42133
0.52545 0.28772 0.68066 -0.42163
0.52637 0.28619 0.68048 -0.42187
0.52692 0.2854 0.68036 -0.42194
0.52808 0.28381 0.67999 -0.42212
0.5293 0.28247 0.67957 -0.42224
0.52997 0.2818 0.67926 -0.42224
0.53107 0.28058 0.67908 -0.422
0.53223 0.27924 0.67908 -0.42151
0.53296 0.27838 0.67902 -0.42126
0.53479 0.27637 0.67871 -0.42065
0.53583 0.27521 0.67853 -0.42035
0.53796 0.27264 0.67828 -0.41974
0.53998 0.27008 0.67816 -0.41907
0.54102 0.26874 0.67816 -0.41852
0.54321 0.26575 0.67834 -0.4173
0.54559 0.26257 0.67853 -0.41589
0.54687 0.26099 0.67853 -0.41522
0.54944 0.25824 0.6781 -0.41425
0.55151 0.25665 0.67694 -0.41437
0.55225 0.25641 0.67615 -0.41479
0.55341 0.25647 0.67456 -0.41583
0.55475 0.25623 0.67291 -0.41687
0.55554 0.25574 0.67224 -0.41718
0.55768 0.25403 0.67126 -0.41699
0.56042 0.25128 0.67096 -0.41547
0.56183 0.24976 0.67078 -0.41473
0.56439 0.24719 0.67017 -0.41382
0.56616 0.24554 0.66949 -0.41351
0.56683 0.24518 0.66901 -0.41357
0.56769 0.24554 0.6676 -0.41443
0.56818 0.24713 0.66547 -0.41626
0.56836 0.24817 0.66418 -0.41742
0.56854 0.25073 0.66156 -0.41974
0.56873 0.25354 0.65955 -0.42108
0.56891 0.25476 0.65875 -0.42126
0.5697 0.25684 0.65747 -0.42096
0.57098 0.25903 0.6557 -0.42065
0.57178 0.26038 0.65442 -0.42078
0.57239 0.26373 0.65234 -0.42102
0.57269 0.26721 0.65015 -0.42181
0.57275 0.26843 0.64923 -0.42236
0.57288 0.26941 0.64801 -0.42346
0.57306 0.26898 0.64758 -0.42413
0.57312 0.26855 0.64746 -0.42444
0.57184 0.27045 0.6463 -0.42676
0.57355 0.26825 0.64636 -0.42584
0.57391 0.26746 0.64661 -0.42542
0.57349 0.26819 0.64587 -0.42664
0.57361 0.2691 0.64459 -0.4278
0.57397 0.26953 0.64362 -0.42859
0.57294 0.27289 0.64032 -0.43274
0.573 0.27423 0.63849 -0.43457
0.573 0.27484 0.63757 -0.43542
0.5708 0.27911 0.6347 -0.43976
0.57092 0.27991 0.63336 -0.44098
0.57111 0.28027 0.63251 -0.44177
0.56897 0.28424 0.62958 -0.44623
0.56915 0.284 0.62891 -0.44708
0.56927 0.28369 0.62878 -0.44727
0.56726 0.28619 0.62744 -0.4502
0.56763 0.28564 0.62714 -0.45044
0.56805 0.28503 0.62701 -0.45044
0.5675 0.2854 0.6261 -0.45227
0.56848 0.28333 0.62604 -0.45239
0.56866 0.28247 0.62616 -0.45251
0.56769 0.28217 0.62659 -0.45337
0.56726 0.28119 0.6283 -0.45215
0.56708 0.2807 0.62885 -0.45184
0.56567 0.28143 0.62878 -0.45325
0.56604 0.27985 0.62964 -0.45251
0.56616 0.27917 0.63025 -0.45203
0.56543 0.27887 0.63123 -0.45172
0.56567 0.27686 0.63306 -0.45013
0.56598 0.27563 0.63379 -0.44946
0.5658 0.27448 0.6344 -0.44946
0.56628 0.2724 0.63611 -0.44781
0.56659 0.27118 0.63727 -0.44653
0.56708 0.26874 0.63953 -0.44403
0.56818 0.26556 0.64203 -0.44092
0.56873 0.2641 0.64325 -0.43933
0.56915 0.26257 0.64496 -0.43726
0.57025 0.26038 0.64691 -0.43414
0.57074 0.25952 0.64783 -0.43268
0.57086 0.25867 0.64954 -0.43048
0.57135 0.25714 0.65149 -0.4278
0.57159 0.25653 0.6524 -0.42651
0.57104 0.2569 0.65356 -0.42517
0.57129 0.25616 0.65564 -0.42206
0.57141 0.25586 0.65692 -0.4201
0.57159 0.25543 0.65936 -0.41626
0.5719 0.2547 0.66162 -0.41272
0.57196 0.25446 0.6626 -0.41119
0.57208 0.25403 0.66449 -0.40826
0.57214 0.25354 0.66687 -0.40454
0.57208 0.25342 0.66809 -0.40271
0.57062 0.25488 0.66968 -0.40125
0.56921 0.25592 0.67133 -0.39978
0.5683 0.25677 0.67206 -0.39935
0.56525 0.2616 0.67236 -0.40002
0.56299 0.26532 0.67297 -0.39978
0.56158 0.26733 0.67297 -0.40033
0.55786 0.27264 0.67212 -0.40338
0.55432 0.27722 0.67145 -0.40631
0.55249 0.27942 0.67126 -0.40759
0.54889 0.28461 0.66992 -0.41101
0.54651 0.2879 0.66919 -0.41315
0.5451 0.28949 0.66895 -0.41418
0.54254 0.29254 0.66864 -0.41595
0.54034 0.29553 0.66833 -0.41718
0.53931 0.29736 0.66791 -0.41791
0.53687 0.30176 0.66681 -0.41962
0.53387 0.30634 0.66577 -0.42175
0.5321 0.30859 0.66534 -0.42303
0.52856 0.31238 0.66473 -0.4256
0.52563 0.31519 0.66443 -0.42761
0.5246 0.31622 0.66443 -0.42816
0.52313 0.31769 0.66486 -0.42828
0.52216 0.31873 0.66565 -0.42743
0.52179 0.31909 0.6662 -0.42676
0.52112 0.31976 0.6673 -0.42529
0.52039 0.3205 0.66827 -0.42419
0.51996 0.32104 0.66852 -0.42389
0.51874 0.32245 0.66882 -0.42383
0.51733 0.32391 0.6687 -0.4245
0.51666 0.32471 0.66858 -0.42505
0.5152 0.32599 0.66833 -0.42609
0.51385 0.32715 0.66827 -0.42706
0.51324 0.32745 0.66833 -0.42743
0.51227 0.32776 0.6687 -0.4278
0.5116 0.32776 0.66925 -0.42767
0.51141 0.3277 0.66956 -0.42761
0.51093 0.32733 0.6701 -0.42743
0.51031 0.32709 0.67065 -0.42755
0.51001 0.32709 0.67084 -0.42773
0.50909 0.32733 0.67096 -0.42841
0.508 0.32782 0.6709 -0.42938
0.50745 0.32794 0.67084 -0.43005
0.50702 0.32733 0.67114 -0.43054
0.50604 0.32776 0.6712 -0.43127
0.50562 0.32794 0.67126 -0.43152
0.50586 0.32654 0.67224 -0.43079
0.50562 0.32642 0.67224 -0.43115
0.50537 0.32629 0.67242 -0.43127
0.50549 0.32495 0.67322 -0.43097
0.50488 0.32428 0.67389 -0.43109
0.50452 0.32391 0.67426 -0.43121
0.50439 0.32184 0.67542 -0.43109
0.50311 0.32098 0.67566 -0.43286
0.50238 0.32056 0.67554 -0.43414
0.50183 0.31818 0.67548 -0.43658
0.50055 0.31628 0.67438 -0.44116
0.49969 0.31531 0.67346 -0.44421
0.49823 0.31213 0.67163 -0.45087
0.49438 0.31024 0.66888 -0.46033
0.49249 0.30884 0.66748 -0.46533
0.48987 0.3031 0.66595 -0.47394
0.48523 0.29797 0.66522 -0.48297
0.48248 0.29517 0.66498 -0.48773
0.47675 0.28815 0.66461 -0.49799
0.46942 0.28113 0.66376 -0.50995
0.46552 0.27704 0.66351 -0.51599
0.45862 0.26611 0.66443 -0.52661
0.45184 0.25269 0.66528 -0.53796
0.44836 0.24542 0.66553 -0.54382
0.44214 0.23041 0.66595 -0.55487
0.43695 0.21545 0.66516 -0.56586
0.43469 0.20819 0.66406 -0.57159
0.43048 0.19226 0.66223 -0.5824
0.42621 0.1734 0.6618 -0.59186
0.42346 0.16333 0.66248 -0.59595
0.41821 0.14209 0.66461 -0.60266
0.41278 0.11896 0.66742 -0.60834
0.40973 0.10706 0.66864 -0.61127
0.4032 0.08392 0.67041 -0.61719
0.396 0.06049 0.67145 -0.62341
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감사 @minorlogic도 자신의 의견에 썼던 것처럼
나는 그 IMU에 익숙하지 않지만 내부 한계에 부합하는 것처럼 보입니다. IMU 매뉴얼을 확인하십시오. 그런 다음 어떤 R 패키지를 사용하고 있는지 알려주고 데이터 샘플을 제공하여 사용자가보고있는 것을 다시 만들 수 있습니다. –
당신은 또한 더 나은 도움을 얻을 수 있습니다 : http://datascience.stackexchange.com/ –
Quaternion은 pi와 pi 사이의 각도로 계속 회전하므로이 한계의 오버플로가 보입니다. – minorlogic