accelerometer - 如何从加速度计数据中获取线性加速度

Question

我正在使用 IMU(3 轴加速度计、3 轴陀螺仪、3 轴磁力计)，我想从加速度计数据中获取线性加速度。我了解传感器融合以及使用陀螺仪数据(并获取方向)获取重力矢量的能力，从而消除其对相应轴的影响。

我走的路对吗？如果可以的话，你能帮忙吗？

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之后我将对加速度进行两次积分以获得如下所示的位置

        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];

Answer 1

Won't work.

您无法获得准确的位置甚至速度。在上面的链接中，您可以找到实际可以做些什么的提示。

顺便弹出这个问题surprisingly often .