陀螺仪、加速度计、磁力计和卡尔曼滤波器 [英] gyro, accelerometer, magnetometer and Kalman filter
问题描述
我想使用陀螺仪、加速度计和磁力计在 3 轴上获得完全平滑的旋转.
I want to use gyro, accelermeter and magnetometer to get a full smooth rotation in 3 axis.
第一个问题是我的输出有很多噪音，我想知道如何去除它.
The first problem is that my outputs individualy has very noise and I want to know how can I remove it.
第二个问题是我认为应该用卡尔曼滤波器解决的陀螺漂移问题.
The second problem is the gyro drift that I think it should solve with Kalman filter.
第三个问题是加速度计.如果我在不旋转设备的情况下移动设备时将陀螺仪和加速度计组合在一起，输出将会改变.卡尔曼滤波器是否也可以去除输出中的移动效应?
The third problem is the accelerometer. If I combine the gyro and accelermeter when I move the device without rotating the device the output will change. Is Kalman filter can remove the moving effect from output too?
推荐答案
第一个问题是我的输出单独有很多噪音，我想知道如何去除它.
the first problem is that my outputs individualy has very noise and i want to know how can i remove it.
是的，那很自然，不用担心，您可以消除噪音.
Yes, that is natural, do not worry, you can remove the noise.
第二个问题是我认为应该用卡尔曼滤波器解决的陀螺漂移.
the second problem is the gyro drift that i think it should solve with kalman filter.
是的，卡尔曼滤波器是一种方法.您可能会发现这些答案很有用:
Yes, Kalman filter is one way to go. You may find these answers useful:
第三个问题是加速度计.如果我在不旋转设备的情况下移动设备时将陀螺仪和加速度计结合起来，输出将发生变化.
the third problem is the accelerometer.if i combine the gyro and accelermeter when i move the device without rotating the device the output will change.
我不确定我是否理解正确.如果您有磁力计卡尔曼滤波器，即使您不旋转设备，也可以消除陀螺仪漂移.这就是你要问的吗?
I am not sure I understand that correctly. If you have magnetometer Kalman filter can remove the gyro drift even if you are not rotating the device. Is that what you are asking?
根据您的应用程序，您可以假设加速度平均为零.阅读本文，尤其是第 24 页:
Depending on your application, you can assume that the acceleration is zero on average. Read this, especially page 24:
http://gentlenav.googlecode.com/files/DCMDraft2.pdf
我在我的人体运动感应应用程序中使用了这个假设，并且效果很好.
I use this assumption in my application for human motion sensing and it works perfectly.
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