使用mpu 6050加速度计测量距离

Question

我想用x，y，z的加速度计算mpu 6050传感器的行进距离。如何通过积分获得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;