Android的加速度计精度（惯性导航） [英] Android accelerometer accuracy (Inertial navigation)
问题描述
我一直在寻找到实现惯性导航系统为Android手机，这是我知道的是很难给出的加速度计精度，读数不断波动。
I was looking into implementing an Inertial Navigation System for an Android phone, which I realise is hard given the accelerometer accuracy, and constant fluctuation of readings.
首先，我把手机放在一个平面上，并取样在X 1000加速度计读数和Y方向（平行于表，所以没有重力作用在这些方向）。然后，我平均这些读数，并用这个值来校准手机（减去以后每次读取这个值）。
To start with, I set the phone on a flat surface and sampled 1000 accelerometer readings in the X and Y directions (parallel to the table, so no gravity acting in these directions). I then averaged these readings and used this value to calibrate the phone (subtracting this value from each subsequent reading).
我然后通过再次将其放置在桌子上，采样5000加速度计读数在X和Y方向对测试体系。我预计，鉴于校准，这些加速度加起来应该为0（大致）在每个方向。然而，这不是这种情况，并总加速度超过5000次迭代被远不0（每个轴上平均约为10）。
I then tested the system by again placing it on the table and sampling 5000 accelerometer readings in the X and Y directions. I would expect, given the calibration, that these accelerations should add up to 0 (roughly) in each direction. However, this is not the case, and the total acceleration over 5000 iterations is nowhere near 0 (averaging around 10 on each axis).
我知道，没有看到我的code，这可能是很难回答，但在更普遍的意义......
I realise without seeing my code this might be difficult to answer but in a more general sense...
时的加速度计读数不准确怎么是手机（HTC Desire S的）这个简单的例子，或者是更有可能的是，我在我的编码做了一些错误？
Is this simply an example of how inaccurate the accelerometer readings are on a mobile phone (HTC Desire S), or is it more likely that I've made some errors in my coding?
感谢您的帮助提前。
推荐答案
您获得位置通过集成的线性加速两次，但错误是可怕的。这是在实践中无用的。
You get position by integrating the linear acceleration twice but the error is horrible. It is useless in practice.
下面是解释为什么（谷歌技术讲座）在的 23:20 。我强烈推荐这部影片。
Here is an explanation why (Google Tech Talk) at 23:20. I highly recommend this video.
这不是加速噪音引起该问题，但陀螺白噪音，请参阅第6.2.3传播错误的。 （顺便说一句，你将需要陀螺仪也。）
It is not the accelerometer noise that causes the problem but the gyro white noise, see subsection 6.2.3 Propagation of Errors. (By the way, you will need the gyroscopes too.)
至于室内定位，我发现这些有用的：
As for indoor positioning, I have found these useful:
<一个href="http://www.intersense.com/uploads/documents/Pedestrian_Tracking_with_Shoe-Mounted_Inertial_Sensors.pdf">Pedestrian与跟踪热靴安装惯性传感器
<一个href="http://www.analog.com/static/imported-files/application_notes/47076299220991AN_900.pdf">Enhancing计步器使用单加速度计的效果
我不知道如何将这些方法会在现实生活中的应用执行或如何把它们变成一个不错的Android应用程序。
I have no idea how these methods would perform in real-life applications or how to turn them into a nice Android app.
一个类似的问题是<一个href="http://stackoverflow.com/questions/6645126/distance-moved-by-accelerometer/6648664#6648664">this.
更新：
显然有比一个较新的版本上面奥利弗J.樵夫，介绍惯性导航，他的博士论文：
Apparently there is a newer version than the above Oliver J. Woodman, "An introduction to inertial navigation", his PhD thesis:
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