Hi, How to transform linear accelerating data of IMU to linear velocity data? I want to obtain linear x and y velocity value from IMU. How can ı do this? Thanks in advance.
Originally posted by Mekateng on ROS Answers with karma: 85 on 2018-01-07
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Comment by jayess on 2018-01-07:
Integrate. Acceleration is the derivative of velocity. So, to get to velocity from acceleration you need to integrate.
Assuming the x and y axes of your IMU are aligned with your robot and you want the x and y velocities with respect to the robot:
delta_t = time between accelerometer readings
loop:
velocity_x += (accel_x * delta_t)
velocity_y += (accel_y * delta_t)
Originally posted by dan with karma: 875 on 2018-01-07
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Comment by Mekateng on 2018-01-08:
thank you sir
Comment by jayess on 2018-01-08:
Just keep in mind that by integrating the error will grow to be quite large over time.