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# Transforming linear acceleration data of IMU to linear velocity data

Hi, How to transform linear accelerating data of IMU to linear velocity data? I want to obtain linear x and y velocity value from IMU. How can ı do this? Thanks in advance.

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Integrate. Acceleration is the derivative of velocity. So, to get to velocity from acceleration you need to integrate.

( 2018-01-07 17:03:22 -0500 )edit

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Assuming the x and y axes of your IMU are aligned with your robot and you want the x and y velocities with respect to the robot:

delta_t = time between accelerometer readings

loop:
velocity_x += (accel_x * delta_t)
velocity_y += (accel_y * delta_t)

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thank you sir

( 2018-01-08 02:06:32 -0500 )edit

Just keep in mind that by integrating the error will grow to be quite large over time.

( 2018-01-08 02:44:05 -0500 )edit