Inertial Odometry

Inertial Odometry is great because it does not care of the environment variables. I used a BNO055 which is an “absolute orientation” sensor made by Bosch. The main disadvantage of this type of sensor is that in time it’s readings can only decrease. The variable I wanted to extract from this sensor was the rotation along the Z-axis which is also called “Yaw Rate” and it is given by the gyroscope.

$$\dot{\psi }={\omega }_z,$$ $$\psi (t)=\psi (0)+{\int }_0^{\text{t}}\dot{\psi }(\tau )d\tau .$$