使用mpu 6050加速器获取距离

Question

我想用x，y，z的加速度计算mpu 6050传感器的行进距离。如何通过积分加速度计值来获取传感器使用加速度计值行进的行进距离。您能解释一下获取速度和位移的代码示例

  a_present = aaReal.x * 9.8;
  a_average = (a_present + a_previous)  / 2;

  v_present = v_previous + a_average * 0.001 ;

  v_average = (v_previous + v_present) / 2;



  s_present = v_previous * 0.001 + 0.5 * a_average  * 0.001 * 0.001;

  Serial.println("v_present " + (String)v_present + "\t\ts_present  " +(String)s_present+"\t\ts_all "+(String)s_all + "\ta_real "+(String)a_present);




  a_previous = a_average;
  v_previous = v_present;
  s_all = s_all + s_present;