3
我使用的是IMU(3轴加速计,3轴陀螺仪,3轴磁力计),我想从加速度计数据的线性加速度。我知道传感器融合和使用陀螺仪数据(和得到的取向),以获得重力矢量,因此除去相应轴的作用的能力。如何从加速计数据线性加速度
我在正确的道路上,如果可以的话你能帮忙吗?
后,我会两次整合加速,以获得位置在以下
CurrentAcceleration[0] = e.Accelerometer[0];
CurrentAcceleration[1] = e.Accelerometer[1];
CurrentAcceleration[2] = e.Accelerometer[2];
//we need to get the linear acceleration instead of the read data !!
CurrentVelocity[0] += (CurrentAcceleration[0] + PreviousAcceleration[0])/2;
CurrentVelocity[1] += (CurrentAcceleration[1] + PreviousAcceleration[1])/2;
CurrentVelocity[2] += (CurrentAcceleration[2] + PreviousAcceleration[2])/2;
Position[0] += (CurrentVelocity[0] + PreviousVelocity[0])/2 ;
Position[1] += (CurrentVelocity[1] + PreviousVelocity[1])/2 ;
Position[2] += (CurrentVelocity[2] + PreviousVelocity[2])/2 ;
PreviousAcceleration[0] = CurrentAcceleration[0];
PreviousAcceleration[1] = CurrentAcceleration[1];
PreviousAcceleration[2] = CurrentAcceleration[2];
PreviousVelocity[0] = CurrentVelocity[0];
PreviousVelocity[1] = CurrentVelocity[1];
PreviousVelocity[2] = CurrentVelocity[2];
的代码有几个错误。即使你修好了,也不行。 – Ali
我读过一些研究论文,发现你是正确的,我们需要另一种设备来帮助(类似GPS改正错误),但该理论是正确的。无论如何感谢您的帮助,抱歉迟到评估答案。接受的答案。 –
Upvoted你的问题,我很高兴我可以帮助。 – Ali