![]() Typically, these angles are referred to as roll, pitch, yaw. Gyroscopes measure an angular rate of motion about three axes. Then coupling the range sensors to the odometer readings I can build a dead reckoning system that keeps track (as best as possible) of the robot location in the environment. Once I have drivers for this, I can start to look into combination of the three sensors to provide an estimate of heading. The last piece of the IMU puzzle is the gyroscope (previous adventures looked at the accelerometer and the magnetometer).
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