我正在使用带有9DOF(加速度计,陀螺仪,磁力计)的LSM9DS0传感器
从X,Y,Z轴(G中)接收到加速度后,执行以下步骤
让我们说加速度是X,Y,Z方向的AccelX_Avg,AccelY_Avg,AccelZ_Avg
Accel_Avg = (sqrt(AccelX_Avg*AccelX_Avg + AccelY_Avg*AccelY_Avg + AccelZ_Avg*AccelZ_Avg)) * 9.88888;
然后我计算速度和距离
if (i_offset_distance == 0) { // calculate the speed(V1) and distance(D1) for first instant
i_offset_distance = i_offset_distance + 1 ;
Serial.println("\nFirst is done \n");
Measured_Velocity_1 = (Accel_Avg* dt_ODR_A);
Distance_covered_1 = (Measured_Velocity*dt_ODR_A) + (0.5*Accel_Avg*dt_ODR_A*dt_ODR_A);
}
else{
Measured_Velocity = Measured_Velocity_1 + (Accel_Avg* dt_ODR_A); // V2 = V1 + Accelration * Dt
Measured_Velocity_1 = Measured_Velocity;
Distance_covered = (Measured_Velocity*dt_ODR_A) + (0.5*Accel_Avg*dt_ODR_A*dt_ODR_A) + Distance_covered_1;
Distance_covered_1 = Distance_covered;
i_offset_distance = i_offset_distance + 1;
}
它给我每次行进的速度和距离的增量值,无论我预期如何,当传感器处于静止时加速度(0,0,g),速度应该为零。此外,如果它不移动,它应该使distance_covered也为0.
如何正确覆盖速度和total_distance?
通过代码实现,概念,算法的任何形式的建议将非常感激。谢谢。