Scripting Gyroscope Drift

Hello,

I am developing an AR application.

In this application I use a "headtracking" that I use on the camera, it allows me to be in a 360 ° environment.

As I saw on other thread some of you also have a problem of "drift". The problem of "drifting" is only present on certain apparatus.

In order to limit it, I tried several methods but without concrete results.

Here are the several cases:

Spoiler

Code (CSharp):

1. public Quaternion quat;
2.  
3. public Quaternion quatAfter;
4.  
5.  
6. void Start() {
7.  
8.     Input.gyro.enabled = true;
9.  
10.     quat = new Quaternion(change(Input.gyro.attitude.x), change(Input.gyro.attitude.y), change(Input.gyro.attitude.z), change(Input.gyro.attitude.w));
11.  
12.     quatAfter = quat;
13.  
14. }
15.  
16.  
17. protected void OnGUI() {
18.  
19.     quat.x = change(Input.gyro.attitude.x);
20.  
21.     quat.y = change(Input.gyro.attitude.y);
22.  
23.     quat.z = change(Input.gyro.attitude.z);
24.  
25.     quat.w = change(Input.gyro.attitude.w);
26.  
27.  
28.     if (testIfbouge(quat, quatAfter))
29.  
30.     {
31.  
32.        this.gameObject.transform.rotation = Quaternion.AngleAxis(90.0f, Vector3.right) * quat * Quaternion.AngleAxis(180.0f, Vector3.forward);
33.  
34.     }
35.  
36.  
37.     quatAfter = quat;
38.  
39. }
40.  
41.  
42. public bool testIfbouge(Quaternion q, Quaternion qa) {
43.  
44.  
45.     double marge = 0.004;
46.  
47.  
48.     if ((q.x - qa.x) > marge || (qa.x - q.x) > marge) {
49.  
50.         return true;
51.  
52.     }
53.  
54.     else if ((q.y - qa.y) > marge || (qa.y - q.y) > marge) {
55.  
56.         return true;
57.  
58.     }
59.  
60.     else if ((q.z - qa.z) > marge || (qa.z - q.z) > marge) {
61.  
62.         return true;
63.  
64.     }
65.  
66.     else if ((q.w - qa.w) > marge || (qa.w - q.w) > marge) {
67.  
68.         return false;   // don't mouve w
69.  
70.     }
71.  
72.     else {
73.  
74.         return false;
75.  
76.     }
77.  
78.  
79. }
80.  
81.  
82. public float change(float numb) {
83.  
84.     return float.Parse(numb.ToString("0.000"));
85.  
86. }

Spoiler

Code (CSharp):

1.  
2.  
3. public Quaternion quat;
4.  
5. public Quaternion quatAcceleration;
6.  
7. public Quaternion quatGravity;
8.  
9.  
10. public Quaternion quatAfter;
11.  
12. public Quaternion quatAccelerationAfter;
13.  
14. public Quaternion quatGravityAfter;
15.  
16.  
17.  
18. void Start () {
19.  
20.     Input.gyro.enabled = true;
21.  
22.     quat = new Quaternion(change(Input.gyro.attitude.x), change(Input.gyro.attitude.y), change(Input.gyro.attitude.z), change(Input.gyro.attitude.w));
23.  
24.     quatAfter = quat;
25.  
26. }
27.  
28.  
29. void Update () {
30.  
31.     quat.x = change(Input.gyro.attitude.x);
32.  
33.     quat.y = change(Input.gyro.attitude.y);
34.  
35.     quat.z = change(Input.gyro.attitude.z);
36.  
37.     quat.w = change(Input.gyro.attitude.w);
38.  
39.  
40.     quatAcceleration.x = change(Input.acceleration.x);
41.  
42.     quatAcceleration.y = change(Input.acceleration.y);
43.  
44.     quatAcceleration.z = change(Input.acceleration.z);
45.  
46.  
47.     quatGravity.x = change(Input.gyro.gravity.x);
48.  
49.     quatGravity.y = change(Input.gyro.gravity.y);
50.  
51.     quatGravity.z = change(Input.gyro.gravity.z);
52.  
53.  
54.     if (testIfbouge(quat, quatAfter, quatAcceleration, quatAccelerationAfter, quatGravity, quatGravityAfter))
55.  
56.     {
57.  
58.        this.gameObject.transform.rotation = Quaternion.AngleAxis(90.0f, Vector3.right) * quat * Quaternion.AngleAxis(180.0f, Vector3.forward);
59.  
60.     }
61.  
62.  
63.     quatAfter = quat;
64.  
65.     quatAccelerationAfter = quatAcceleration;
66.  
67.     quatGravityAfter = quatGravity;
68.  
69. }
70.  
71.  
72.  
73.  
74. public bool testIfbouge(Quaternion q, Quaternion qa, Quaternion qACC, Quaternion qACCa, Quaternion qGrav, Quaternion qGrava)
75.  
76. {
77.  
78.     double marge = 0.004;
79.  
80.     double margeACC = 0.002;
81.  
82.     double margeGrav = 0.01;
83.  
84.  
85.     if (((q.x - qa.x) > marge || (qa.x - q.x) > marge) && ((qACC.x - qACCa.x) > margeACC || (qACCa.x - qACC.x) > margeACC) && ((qGrav.x - qGrava.x) > margeGrav || (qGrava.x - qGrav.x) > margeGrav))
86.  
87.     {
88.  
89.         return true;
90.  
91.     }
92.  
93.     else if (((q.y - qa.y) > marge || (qa.y - q.y) > marge) && ((qACC.y - qACCa.y) > margeACC || (qACCa.y - qACC.y) > margeACC))
94.  
95.     {
96.  
97.         return true;
98.  
99.     }
100.  
101.     else if (((q.z - qa.z) > marge || (qa.z - q.z) > marge) && ((qACC.z - qACCa.z) > margeACC || (qACCa.z - qACC.z) > margeACC))
102.  
103.     {
104.  
105.         return true;  
106.  
107.     }
108.  
109.     else if ((q.w - qa.w) > marge || (qa.w - q.w) > marge)
110.  
111.     {
112.  
113.         return false;   // don’t mouve w
114.  
115.     }
116.  
117.     else
118.  
119.     {
120.  
121.         return false;
122.  
123.     }
124.  
125.  
126. }
127.  
128.  
129. public float change(float numb)
130.  
131. {
132.  
133.     return float.Parse(numb.ToString("0.000"));
134.  
135. }
136.  
137.  
138.  

Spoiler

Code (CSharp):

1.  
2.  
3. public Quaternion quatOff;
4.  
5.  
6.  
7. public Quaternion quat;
8.  
9. public Quaternion quatAfter;
10.  
11.  
12. void Start () {
13.  
14.     Input.gyro.enabled = true;
15.  
16.     quatOff = new Quaternion(change(Input.gyro.attitude.x), change(Input.gyro.attitude.y), change(Input.gyro.attitude.z), change(Input.gyro.attitude.w));
17.  
18.     this.gameObject.transform.rotation = Quaternion.AngleAxis(90.0f, Vector3.right) * quatOff * Quaternion.AngleAxis(180.0f, Vector3.forward);
19.  
20. }
21.  
22.  
23. protected void OnGUI() {
24.  
25.     quatGravity.x = change(Input.gyro.gravity.x);
26.  
27.     quatGravity.y = change(Input.gyro.gravity.y);
28.  
29.     quatGravity.z = change(Input.gyro.gravity.z);
30.  
31.  
32.     quat.x = change(Input.gyro.attitude.x);
33.  
34.     quat.y = change(Input.gyro.attitude.y);
35.  
36.     quat.z = change(Input.gyro.attitude.z);
37.  
38.     quat.w = change(Input.gyro.attitude.w);
39.  
40.  
41.     testIfbouge(quat, quatAfter, quatGravity, quatGravityAfter);
42.  
43.    
44.  
45.     quatAfter = quat;
46.  
47.     quatGravityAfter = quatGravity;
48.  
49. }
50.  
51.  
52.  
53. public float change(float numb) {
54.  
55.     return float.Parse(numb.ToString("0.000"));
56.  
57. }
58.  
59.  
60.  
61. public void testIfbouge(Quaternion qGrav, Quaternion qGrava, Quaternion qGravOFF, Quaternion qGravOFFa) {
62.  
63.     double margeGrav = 0.004;
64.  
65.     double margeGravFat = 0.05;
66.  
67.  
68.     float xt = (qGrav.x - qGrava.x);
69.  
70.     if (xt < 0) xt = xt * -1;
71.  
72.     float xt2 = (qGravOFF.x - qGravOFFa.x);
73.  
74.     if (xt2 < 0) xt2 = xt2 * -1;
75.  
76.  
77.     if (xt > margeGrav)  {
78.  
79.         if (qGrav.x < qGrava.x) {
80.  
81.             text2.text = " les X gyro  de gauche a droite";
82.  
83.             if(quatOff.x < 1 && quatOff.x > -1) quatOff.x = quatOff.x + xt;
84.  
85.  
86.         } else {
87.  
88.             text2.text = " les X gyro  de droite a gauche";
89.  
90.             if (quatOff.x < 1 && quatOff.x > -1) quatOff.x = quatOff.x - xt;
91.  
92.         }
93.  
94.     }
95.  
96.  
97.     float yt = (qGrav.y - qGrava.y);
98.  
99.     if (yt < 0) yt = yt * -1;
100.  
101.     float yt2 = (qGravOFF.y - qGravOFFa.y);
102.  
103.     if (yt2 < 0) yt2 = yt2 * -1;
104.  
105.     if (yt > margeGrav) {
106.  
107.         if (qGrav.y < qGrava.y) {
108.  
109.             if (quatOff.y < 1 && quatOff.y > -1) quatOff.y = quatOff.y + yt;
110.  
111.         } else {
112.  
113.             if (quatOff.y < 1 && quatOff.y > -1) quatOff.y = quatOff.y - yt;
114.  
115.         }
116.  
117.     }
118.  
119.  
120.     float zt = (qGrav.z - qGrava.z);
121.  
122.     if (zt < 0) zt = zt * -1;
123.  
124.     float zt2 = (qGravOFF.z - qGravOFFa.z);
125.  
126.     if (zt2 < 0) zt2 = zt2 * -1;
127.  
128.     if (zt > margeGravFat)
129.  
130.     {
131.  
132.         if (qGrav.z < qGrava.z) {
133.  
134.             if (quatOff.z < 1 && quatOff.z > -1) quatOff.z = quatOff.z + zt;
135.  
136.         } else {
137.  
138.             if (quatOff.z < 1 && quatOff.z > -1) quatOff.z = quatOff.z - zt;
139.  
140.         }
141.  
142.     }
143.  
144.  
145.     float wt = (qGrav.w - qGrava.w);
146.  
147.     if (wt < 0) wt = wt * -1;
148.  
149.     if (wt > margeGravFat) {
150.  
151.         if (qGrav.w < qGrava.w) {
152.  
153.             if (quatOff.w < 1 && quatOff.w > -1) quatOff.w = -(quatOff.w + wt);
154.  
155.         } else {
156.  
157.             text2.text = " les W gyro 2";
158.  
159.             if (quatOff.w < 1 && quatOff.w > -1) quatOff.w = -(quatOff.w - wt);
160.  
161.         }
162.  
163.     }
164.  
165.  
166.     this.gameObject.transform.rotation = Quaternion.AngleAxis(90.0f, Vector3.right) * quatOff * Quaternion.AngleAxis(180.0f, Vector3.forward);
167.  
168.  
169. }

Spoiler

Code (CSharp):

1. void Start()
2.  
3. {
4.  
5.     Input.gyro.enabled = true;
6.  
7. }
8.  
9.  
10. protected void OnGUI() {
11.  
12.     this.gameObject.transform.Rotate(new Vector3(-Input.gyro.rotationRateUnbiased.x, -Input.gyro.rotationRateUnbiased.y, Input.gyro.rotationRateUnbiased.z));
13.  
14. }
15.  
16.  

Thank's

 

HAHA !