Author Topic: measuring angle with gyro+acc ?  (Read 755 times)

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Offline koray692

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measuring angle with gyro+acc ?
« on: April 01, 2016, 05:33:15 pm »
hello friends I am working to apply second order complamantary filter my imu but I couldnt know it works enough well or not I take a video which shows the two angle in the lcd first row shows with filter result and below one is shows just accelometer results.how can ? know the this system work well or not ?
// k=15 ,  ACI_ACCx=angle of acc  ACI_GYROx=angle of gyro  dtc2=0,01

x1 = ( ACI_ACCx -   x_angle2C)*k*k;
y1 = dtc2*x1 + y1;
x2 = y1 + ( ACI_ACCx -   x_angle2C)*2*k + ACI_GYROx;
x_angle2C = dtc2*x2 + x_angle2C;

video : https://drive.google.com/file/d/0B2zny8J1mP-cWGxMMTBkaWNYNDg/view?usp=sharing
 

Offline legacy

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Re: measuring angle with gyro+acc ?
« Reply #1 on: April 01, 2016, 06:24:05 pm »
I used two accelerometers in quadrature in order to measure the angle
I have never used a gyroscope, and I do not understand your equation
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Offline koray692

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Re: measuring angle with gyro+acc ?
« Reply #2 on: April 01, 2016, 06:58:04 pm »
how did you handle with vibrations noises ? accelometer is very sensitive to vibrations
 

Offline legacy

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Re: measuring angle with gyro+acc ?
« Reply #3 on: April 01, 2016, 08:48:47 pm »
it's windowed, since I need a statical value, slowly variable
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