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kundralaci / StepNavi

PhD research project for indoor navigation.
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Question onto accuracy of linear acceleration with AHRT madgwick #1

Open morriswinkler opened 11 years ago

morriswinkler commented 11 years ago

Hello,

i havn't really found anything that would explain onto how got linear acceleration can be recorded with an MARG, since you are working on an StepNavi i guess linear acceleration equal motion is also important to you, well i am trying to find out how much error i do have to expect if i use the raw accelerometer data - gravity, i need basically motion information down to the movement of a milimeter. Both on rotation and
linear movements ( translation). All i have reed so far suggests that this kind of motion recording with an Android is somewhat unrealistic. Any suggestions about ?

Greetings

Morris Winkler

kundralaci commented 11 years ago

Hello,

As I see it now, it is totally unrealistic. To have position precise in milimeters, you need better sensors. Regarding the orientation, you can achieve pretty nice results, using extended kalman filters to combine many sensors (especially the gyroscope!). For this I would suggest the algorithm of Madgwick: https://code.google.com/p/imumargalgorithm30042010sohm/downloads/detail?name=AHRS.zip&

Hope it helps somewhat,

Laci Kundra