陀螺仪，加速计，磁力计和卡尔曼滤波器 [英] gyro, accelerometer, magnetometer and Kalman filter

问题描述

我想用陀螺仪，加速度计和磁力计在3轴上得到完全平滑的旋转。第一个问题是我的输出个体有很大的噪音，而我第二个问题是我认为应该用卡尔曼滤波器解决的陀螺仪漂移。
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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。卡尔曼滤波器是否可以从输出中移除移动效果？解决方案

第一个问题是我的输出个人有非常噪音，我想知道如何删除它。

是的，这是很自然的，不要担心，你可以消除噪音。第二个问题是我认为应该用卡尔曼滤波器解决的陀螺仪漂移。

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是的，卡尔曼滤波器是一种方法。您可能会发现这些答案有用：

传感器融合与卡尔曼滤波器
结合陀螺仪和加速计数据

第三个问题是accelerometer.if我将陀螺仪和加速度计组合起来，当我移动设备而不旋转设备时输出将会改变。

我不确定我是否理解正确。如果你有磁力计卡尔曼滤波器可以消除陀螺漂移，即使你不旋转设备。是你在问什么？

编辑：根据您的应用程序，您可以假定平均加速度为零。阅读这个，特别是第24页：

http://gentlenav.googlecode.com/files/DCMDraft2.pdf

我在我的人体运动感测应用中使用了这个假设，它完美的工作。

I want to use gyro, accelermeter and magnetometer to get a full smooth rotation in 3 axis.

The first problem is that my outputs individualy has very noise and I want to know how can I remove it.

The second problem is the gyro drift that I think it should solve with Kalman filter.

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?

解决方案

the first problem is that my outputs individualy has very noise and i want to know how can i remove it.

Yes, that is natural, do not worry, you can remove the noise.

the second problem is the gyro drift that i think it should solve with kalman filter.

Yes, Kalman filter is one way to go. You may find these answers useful:

Sensor fusioning with Kalman filter
Combine Gyroscope and Accelerometer Data

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.

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?

EDIT: 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

I use this assumption in my application for human motion sensing and it works perfectly.

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