如何获得加速度计的轴和运动矢量之间的旋转？ [英] How to get the rotation between accelerometer's axis and motion vector?

问题描述

我工作的一个行人导航系统在Android上。目前我正在试图获得3轴加速计和参照被施加给设备的运动之间的旋转矩阵。

I'm working on a Pedestrian Navigation System on Android. I am currently trying to get the rotation matrix between the 3-axis accelerometer referential and the motion that is applied to the device.

让我们说你是走直线前进与设备在你的手，但加速度计（因此设备的Y轴）的Y轴是不是在同一个方向一个面向你正朝着自己的（基本上你再拿着设备处于一种尴尬的方式）。 然后，如果我想申请的距离（以步检测），这将是错误的将其应用到加速度计参考（我知道的方向）：它必须进行相应的旋转运动标题

Let's say you are walking straight forward with the device in your hand, but the Y axis of the accelerometer (thus the device's Y axis) is not oriented in the same direction as the one you're heading yourself (basically you're holding the device in an awkward way). Then if I want to apply distances (based on step detection), it would be wrong to apply them to the accelerometer referential (which I know the orientation) : it has to be rotated accordingly to the motion heading.

这就是为什么我想知道，如果你能开导我一个方法来计算加速度计的读数将它们变成旋转角度（或矩阵）。这种方法避免整合加速甚至一度，因为错误是深海廉价的加速度计（否则这将是pretty的容易执行，我认为）。

This is why I would like to know if you could enlighten me about a method to compute the accelerometer readings to turn them into rotation angles (or a matrix). Such a method has to avoid integrating the acceleration even once, as the error is abyssal on cheap accelerometers (otherwise it would be pretty easy to perform I think).

编辑：磁强计和陀螺仪可以帮助您找到设备的方向，即使stationnary，但不会让你知道在哪个方向上的装置正在移动。我的第一个，我在寻找第二个。基本上是：

EDIT : Magnetometer and Gyroscope help you to find the device's orientation even when stationnary, but doesn't allow you to know in which direction the device is moving. I have the first one, and I'm searching for the second. Basically :

人参考（运动方向） - >设备参考（或加速度参考） - >地球参照

Human Referential (motion direction) -> Device Referential (or accelerometer referential) -> Earth Referential

和我在寻找，找到旋转矩阵计算，从人力资源到灾难恢复，我将适用于旋转矩阵的距离，我发现从DR去急诊室的方式。

and i'm searching the way to find the rotation matrix to compute distances from HR to DR, which I would then apply to the rotation matrix I found to go from DR to ER.

推荐答案

我觉得这可能是有用的文章，这里是的链接。
思想是基于获取加速度数据中的3轴，（这是一个n倍3 矩阵），并发现该矩阵的PCA（主成分分析）。在PCA是3矢量与基质的最高能量）。
Idealy，主矢量（具有最高能量）方向是向上，第二个是标题方向。 你可以阅读所有文章。 我试图实现该算法在MATLAB中，其结果是确定（不是很大） 希望你可以做的更好（我想听到的好成绩）。

I found an article which might be useful, here is the link.
The Idea is based upon acquiring the accelerometer data in the 3 axis, (which is an n times 3 matrix) and finding the PCA (principle component analysis) of the matrix. The PCA is the 3 vectors with the highest energy of the matrix).
Idealy, the main vector (with the highest energy) direction is upwards, and the second is the heading direction. You can read it all in the article. I tried implementing the algorithm in matlab, the result is o.k. (not great) Hope you can do better (I would like to hear about good results).

希望这有助于

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