How to interpret acceleration values

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  • #17304
    tsup
    Participant

    Hi, i am using the BerryIMUv3 for its accelerometer. When the sensor is stationary, it still reads values in the x y and z directions; small values such as 0.08G. Is this correct? My end goal is to obtain the position of the raspberry pi its connected to. Does anyone have experience with this issue?

     

    Thanks in advance

    #17305
    Mark Williams
    Keymaster

    This is correct, this is the noise from the sensor. all sensors have noise, you need to filter them out.

    From this page
    https://ozzmaker.com/berryimu/
    Combining Angles from the Accelerometer and Gyro
    Once you have the both the angles from both sensors, you will have to combined them to overcome the gyro drift and the accelerometer noise.
    We can do this by using a filter which will trust the gyro for short periods of time and the accelerometer for longer periods of time.

    There are two filers you could use, the Kalman Filter or the Complementary Filter. We will used the Complementary filter as it is simple to understand and less CPU intensive. The Kalman filter is way to far complex and would be very processor intensive.

    Mark --OzzMaker.com --

    #17307
    tsup
    Participant

    Thanks Mark. Appreciate your response. I am able to get stable Gyroscope data.

    How can I get stable accelerometer data?  Looking for stabilizing acceleration along the 3 axis.  I tried subtracting simple moving average, but that does not quite work. I can get it to be stable for about 30 secs.

    Thanks

     

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