如何从加速度计计算正确的速度值 [英] How to calculate correct velocity values from accerometer

问题描述

我需要计算空间中的iphone速度，例如打孔速度。

我的第一个问题是：加速度值加速度计：didAccelerate 使用此过滤操作：

I need to calculate iphone velocity in space, punch speed for example.
My first question is: Are the acceleration values accelerometer:didAcceleratewith this filtering actions:

gravity_x = acceleration.x * kFilteringFactor + gravity_x * (1.0 - kFilteringFactor);
gravity_y = acceleration.y * kFilteringFactor + gravity_y * (1.0 - kFilteringFactor);
gravity_z = acceleration.z * kFilteringFactor + gravity_z * (1.0 - kFilteringFactor);
float gravityNorm = sqrt(gravity_x * gravity_x + gravity_y * gravity_y + gravity_z * gravity_z);
accelX = acceleration.x - gravity_x / gravityNorm;
accelY = acceleration.y - gravity_y / gravityNorm;
accelZ = acceleration.z - gravity_z / gravityNorm;

与使用CoreMotion的
motionManager相同。 deviceMotion.userAcceleration.x;
motionManager.deviceMotion.userAcceleration.y;
motionManager.deviceMotion.userAcceleration.z; ？


接下来，根据同样的问题，我做以下几个

the same as using CoreMotion's
motionManager.deviceMotion.userAcceleration.x; motionManager.deviceMotion.userAcceleration.y; motionManager.deviceMotion.userAcceleration.z; ?

Next, according to same questions, I do the following

    const float accuracy=10;
    float accx = (float) ((int)  (accelX * accuracy))/ accuracy;
    float accy=  (float) ((int)  (accelY * accuracy))/ accuracy;
    float accz=  (float) ((int)  (accelZ * accuracy))/ accuracy;

用于舍入值，然后，我认为，我获得当前的速度

for rounding values, then, as I think, I obtain current speed

float dx = accx*9.81+prevX*9.81;
float dy = accy*9.81+prevY*9.81;
float dz = accz*9.81+prevZ*9.81;

speed_after_x = dx/2*myAccelerometer.updateInterval+speed_before_x;
speed_after_y = dy/2*myAccelerometer.updateInterval+speed_before_y;
speed_after_z = dz/2*myAccelerometer.updateInterval+speed_before_z;

根据 iphone加速度计的速度和距离

然后

according to iphone accelerometer speed and distance
then

    prevX=accx;
    prevY=accy;
    prevZ=accz;

    speed_before_x=speed_after_x;
    speed_before_y=speed_after_y;
    speed_before_z=speed_after_z;

最后计算速度为矢量长度

and finally calculating speed as vector's length

    float speed = sqrt(speed_after_x*speed_after_x+speed_after_y*speed_after_y+speed_after_z*speed_after_z);
    if (max_speed<speed)  max_speed = speed;

但是标签中包含的速度值总是在增加。我的意思是，如果我移动设备然后停止，速度值不会变为0.加速度补偿自身是否为0？

But speed value, that is containing in label, is always increasing. I mean if i moved device and then stopped, speed value doesn't become to 0. Doesn't acceleration compensate itself at 0?

推荐答案

这是我设法散列的示例代码。我现在就把它放在这里：

Here's the example code I managed to hash out. I'll just put it here for now:

//
//  ViewController.m
//  Acce
//
//  Created by Diziet on 14/05/2012.
//  Copyright (c) 2012 __MyCompanyName__. All rights reserved.
//

#import "ViewController.h"

@interface ViewController () {
    UIAccelerationValue gravX;
    UIAccelerationValue gravY;
    UIAccelerationValue gravZ;
    UIAccelerationValue prevVelocity;
    UIAccelerationValue prevAcce;
}

@property (strong) UIAccelerometer *sharedAcc;

@end

@implementation ViewController

@synthesize sharedAcc = _sharedAcc;

#define kAccelerometerFrequency        50.0 //Hz
#define kFilteringFactor 0.1

- (void)viewDidLoad
{
    [super viewDidLoad];
    // Do any additional setup after loading the view, typically from a nib.
    self.sharedAcc = [UIAccelerometer sharedAccelerometer];
    self.sharedAcc.delegate = self;
    self.sharedAcc.updateInterval = 1 / kAccelerometerFrequency; 

    gravX = gravY = gravZ = prevVelocity = prevAcce = 0.f;
}

- (void)viewDidUnload
{
    [super viewDidUnload];
    // Release any retained subviews of the main view.
}

- (BOOL)shouldAutorotateToInterfaceOrientation:(UIInterfaceOrientation)interfaceOrientation
{
    return (interfaceOrientation != UIInterfaceOrientationPortraitUpsideDown);
}

- (UIAccelerationValue)tendToZero:(UIAccelerationValue)value {
    if (value < 0) {
        return ceil(value);
    } else {
        return floor(value);
    }
}

#define kAccelerometerFrequency        50.0 //Hz
#define kFilteringFactor 0.1
- (void)accelerometer:(UIAccelerometer *)accelerometer didAccelerate:(UIAcceleration *)acceleration {
    gravX = (acceleration.x * kFilteringFactor) + (gravX * (1.0 - kFilteringFactor));
    gravY = (acceleration.y * kFilteringFactor) + (gravY * (1.0 - kFilteringFactor));
    gravZ = (acceleration.z * kFilteringFactor) + (gravZ * (1.0 - kFilteringFactor));

    UIAccelerationValue accelX = acceleration.x - ( (acceleration.x * kFilteringFactor) + (gravX * (1.0 - kFilteringFactor)) );

    UIAccelerationValue accelY = acceleration.y - ( (acceleration.y * kFilteringFactor) + (gravY * (1.0 - kFilteringFactor)) );
    UIAccelerationValue accelZ = acceleration.z - ( (acceleration.z * kFilteringFactor) + (gravZ * (1.0 - kFilteringFactor)) );
    accelX *= 9.81f;
    accelY *= 9.81f;
    accelZ *= 9.81f;
    accelX = [self tendToZero:accelX];
    accelY = [self tendToZero:accelY];
    accelZ = [self tendToZero:accelZ];

    UIAccelerationValue vector = sqrt(pow(accelX,2)+pow(accelY,2)+pow(accelZ, 2));
    UIAccelerationValue acce = vector - prevVelocity;
    UIAccelerationValue velocity = (((acce - prevAcce)/2) * (1/kAccelerometerFrequency)) + prevVelocity;

    NSLog(@"X %g Y %g Z %g, Vector %g, Velocity %g",accelX,accelY,accelZ,vector,velocity);

    prevAcce = acce;
    prevVelocity = velocity;
}

@end

它需要修改为你的需求，特别是因为我之后就把价值扔掉了。记录为速度的结果值速度在加速事件停止后趋于回到非常小的负值，例如， * 10 ^ -17。所以，是的，我的书几乎为零。你会想在那里进行一些舍入，甚至可能将值放大。我认为我不能把它高于0.2或0.3，但我又不想把手机扔到房间里（还有）。

It'll need modifying for your needs, especially as I'm just throwing the values away afterwards. The resultant value 'velocity' logged as 'Velocity' tends back towards extremely small negative values after acceleration events have ceased, e.g. *10^-17. So yeah, that's practically zero in my book. You'll want to do some rounding in there and probably even scale the values up. I don't think I could get it higher than 0.2 or 0.3 but then again I don't want to hurl my phone across the room (yet).

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