- June 15, 2022 at 4:27 am #17304tsupParticipant
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 advanceJune 15, 2022 at 2:17 pm #17305Mark WilliamsKeymaster
This is correct, this is the noise from the sensor. all sensors have noise, you need to filter them out.
From this page
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 --June 22, 2022 at 7:45 am #17307tsupParticipant
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.
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