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

我的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，地板看起来很平坦，但每个表面都有非常细微的凹凸不平.因此，每当汽车不完全平坦时(就像在起始位置一样)，或者换句话说，只要汽车有最轻微的倾斜，从加速度计获得的总加速度 = 线性加速度 + 倾斜加速度

我的问题是如何消除由于倾斜引起的加速度，以便我只得到线性加速度?我可以以某种方式使用陀螺仪来做到这一点吗?

解决方案

我已经为 Shimmer 平台基于这个手稿，基本上是一个教程:

方向余弦矩阵 IMU:理论

这份手稿几乎回答了你的问题.

这些也有很大帮助:

惯性导航简介

卡尔曼滤波器简介

行人定位室内环境

组合陀螺仪和加速度计数据

请向我保证您不会尝试对线性加速度进行双重积分，因为它不起作用 我怀疑这是您正在尝试做的事情.

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

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?

解决方案

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

Direction Cosine Matrix IMU: Theory

This manuscript pretty much answers your question.

These have also been a big help:

An introduction to inertial navigation

An Introduction to the Kalman Filter

Pedestrian Localisation for Indoor Environments

Combine Gyroscope and Accelerometer Data

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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