如何使用陀螺仪仅从加速度计获得线性加速度？ [英] How to obtain only linear acceleration from accelerometer using gyroscope?

问题描述

我在房间地板上有一辆小型遥控车。为简单起见，让我们假设它沿x轴移动。现在，地板看起来很平整，但是每个表面上都有很小的凹凸不平。因此，每当汽车不完全平坦时（如在起始位置），或者换句话说，当汽车甚至只有一点倾斜时，从加速度计获得的总加速度
=线性加速度+由于倾斜而引起的加速度

I have a small remote controlled car going on the room floor. For simplicity let us assume it is moving along say x-axis. Now, the floor seems flat but there are very minute uneven bumps in every surface. So whenever the car is not exactly flat (as it was at starting position) or in other words whenever the car has even slightest of tilt then, Total Acceleration obtained from accelerometer = Linear Acceleration + Acceleration due to tilt

我的问题是如何消除由于倾斜引起的加速度，以便仅获得线性加速度？我可以以某种方式使用陀螺仪吗？

My question is how to remove the acceleration due to tilt so that I get only linear acceleration? Can I somehow use gyroscope to do that?

推荐答案

我已经为 Shimmer平台基于此手稿，基本上是一个教程：

I have implemented sensor fusion for the Shimmer platform based on this manuscript, it's basically a tutorial:

方向余弦矩阵IMU：理论

此手稿几乎可以回答您的问题。

This manuscript pretty much answers your question.

这些也有很大帮助：

惯性导航简介

卡尔曼滤波器简介

室内环境的行人定位

组合陀螺仪和加速度计数据

请保证我不会尝试对线性加速度进行两次积分，因为它不起作用，我怀疑它是您正在尝试做什么。

Just promise me you won't try double integrating the linear acceleration because it won't work and I suspect that it is what you are trying to do.

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