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POPosition calculation of small model of a car using Accelerometer + Gyroscope
 

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  1. POPosition calculation of small model of a car using Accelerometer + Gyroscope
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    <p>I wish to calculate position of a small remote controlled car (relative to starting position). The car moves on a flat surface for example: a room floor. Now, I am using an accelerometer and a gyroscope. To be precise this board --> <a href="http://www.sparkfun.com/products/9623" rel="nofollow">http://www.sparkfun.com/products/9623</a></p> <p>As a first step I just took the accelerometer data in x and y axes (since car moves on a surface) and double integrated the data to get position. The formulae I used were:</p> <pre><code>vel_new = vel_old + ( acc_old + ( (acc_new - acc_old ) / 2.0 ) ) * SAMPLING_TIME; pos_new = pos_old + ( vel_old + ( (vel_new - vel_old ) / 2.0 ) ) * SAMPLING_TIME; vel_old = vel_new; pos_old = pos_new; acc_new = measured value from accelerometer </code></pre> <p>The above formulae are based on this document: <a href="http://perso-etis.ensea.fr/~pierandr/cours/M1_SIC/AN3397.pdf" rel="nofollow">http://perso-etis.ensea.fr/~pierandr/cours/M1_SIC/AN3397.pdf</a></p> <p>However this is giving horrible error.</p> <p>After reading other similar questions on this forum, I found out that I need to subtract the component of Gravity from above acceleration values (everytime from acc_new) by using gyroscope somehow. This idea is very well explained in Google Tech Talks video <a href="http://www.youtube.com/watch?v=C7JQ7Rpwn2k" rel="nofollow">Sensor Fusion on Android Devices: A Revolution in Motion Processing</a> at time 23:49.</p> <p>Now my problem is how to subtract that gravity component? I get angular velocity from gyroscope. How do I convert it into acceleration so that I can subtract it from the output of accelerometer?</p>
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    1. COHaha.. Actually the project was over long time back. Our Professor was really sticking to the point that this position calculation is possible because some other professor had told him that his team had managed to get the position upto 95% accuracy.. But finally we managed to convince our Prof that this is not possible. In all this I had forgotten to accept the answers. So better late than never!
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