- #1
Hemib
- 14
- 0
Hi all!
I'm working on a system that uses an accelerometer to measure pitch. I know how I can calculate the pitch angle from the accelerometer readings, but I've another problem.
At the start I never know how the accelerometer is mounted. So normally on at the start the accelerometer should give me [Ax Ay Ax] = [0 0 -g]. But this is not the case, because my accelerometer is mounted randomly at the start. So it returns instead [Ax Ay Az] = [a b c]. How can i know calculate the right angles of orientation when moving?
I've also have access to gyroscope readings (also randomly mounted, but always aligned with the accelerometer). Maybe a solution is to find the orientation angles first with the gyro (I think that for a gyro the mounting is not important, correct me if I'm wrong!) and then correct the accelerometer.
So I need something like this:
[ [tex]\theta[/tex] [tex]\Psi[/tex] [tex]\Phi[/tex]] = T [a b c]
- theta, psi and phi are the real orientation angles
- T is the transformation matrix
- a b and c are the wrong accelerometer readings
Thx!
I'm working on a system that uses an accelerometer to measure pitch. I know how I can calculate the pitch angle from the accelerometer readings, but I've another problem.
At the start I never know how the accelerometer is mounted. So normally on at the start the accelerometer should give me [Ax Ay Ax] = [0 0 -g]. But this is not the case, because my accelerometer is mounted randomly at the start. So it returns instead [Ax Ay Az] = [a b c]. How can i know calculate the right angles of orientation when moving?
I've also have access to gyroscope readings (also randomly mounted, but always aligned with the accelerometer). Maybe a solution is to find the orientation angles first with the gyro (I think that for a gyro the mounting is not important, correct me if I'm wrong!) and then correct the accelerometer.
So I need something like this:
[ [tex]\theta[/tex] [tex]\Psi[/tex] [tex]\Phi[/tex]] = T [a b c]
- theta, psi and phi are the real orientation angles
- T is the transformation matrix
- a b and c are the wrong accelerometer readings
Thx!