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acceleration measurement error

asked 2011-10-20 03:37:29 -0500

fresh_ros_user gravatar image

updated 2011-10-23 05:24:08 -0500

kwc gravatar image

Dear all,

I have an IMU. Even if I have made the calibration of the accelerometer, it still gives me the wrong distance value of the robot when I integrate the acceleration twice. And after the movement(when I stopped the robot), the acceleration is always different from zero. How can I fix these problems?

Thanks for your helps.

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answered 2011-10-20 03:56:41 -0500

DimitriProsser gravatar image

Double integrating over the acceleration measurements is typically so noisy that the data can't even be reliable enough to use. I would recommend that you find another method to calculate distance because it will be incredibly difficult to get any reasonable data from your calculations.

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answered 2011-10-24 09:05:53 -0500

JoeRomano gravatar image

You could start by high-pass filtering (http://en.wikipedia.org/wiki/High-pass_filter) your acceleration signal to get rid of the zero-offset. If your robot isn't moving but you still have an acceleration signal that is definitely going to be an issue when you integrate.

But likie Dimitri said - integrating an accelerometer really isn't a good way to track distance anyways.

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Asked: 2011-10-20 03:37:29 -0500

Seen: 343 times

Last updated: Oct 24 '11