Now we are doing a product, need to use MPU6050 this chip, and have access to the acceleration and angular velocity of the value of the three axis need is the actual acceleration, containing the acceleration of gravity is not! Struggling to get rid of the component of gravitational acceleration on the chip, hope to have the great god predecessors can help the younger brother!

CodePudding user response:

If the values of three axis under stationary state as a, b, c
Are the three axis in the actual movement result is minus a, b, c not line

CodePudding user response:

reference 1st floor wangfan027 response:

if the values of three axis under stationary state as a, b, c
Are the three axis in the actual movement result is minus a, b, c not just yao

The problem is that the position and Angle will change ah,

CodePudding user response:

Any a three-axis accelerometer, Angle and acceleration of gravity measurement function, using the stationary state, of the device is known Angle, calculate the equipment under the current state of acceleration of gravity,
Use this as a benchmark data, you must according to the actual equipment instantaneous Angle, according to the formula, can be in the known gravitational acceleration vector direction minus value, if the device height change is very large, had better have received equipment elevation value of the sensor, and then, according to the elevation and the acceleration of gravity, to compensate the correction of the data, in this way, you can get the equipment at any time the actual acceleration value, of course, is a function involving vector operation, computational cost is a little big,

CodePudding user response:

refer to the second floor lqn0459 response:

Quote: refer to 1st floor wangfan027 response:

If the values of three axis under stationary state as a, b, c
Are the three axis in the actual movement result is minus a, b, c not just yao

The problem is that the position and Angle will change ah,

If need only relative to the device itself or the result of the initial state is stationary,, such as relative to the equipment, it is made accelerated motion towards the Z axis, or along the X axis of chip accelerated motion, minus the initial static value as I've told you that's right, principle is based on the force decomposition, physical books

But
If the device or the chip itself position uncertainty, such as equipment is backwards or stand, put backwards and 2 g accelerated down for chip is a result, this time may need gyroscope, gyroscope I used, you can look at this thing online to see how to do

CodePudding user response:

Need to know the three axis relative to the Angle of the earth, and then by gravity component is cosine relationship to lose