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Is there any method to for sensor fusion of accelerometer ,gyroscope and barrometer?

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1

I want sensor fusion for accelerometer, gyroscope, and barometer.
so far I have estimate orientation using accelerometer and gyroscope.
now I want to combine the data from accelerometer and gyroscope with the barometer to find the vertical height.

so far I have estimate orientation using accelerometer and gyroscope.
now I want to combine the data from accelerometer and gyroscope with the barometer to find the vertical height.

 phi_hat_gyr(i) = phi_hat + dt * (p + sin(phi_hat) * tan(theta_hat) * q + cos(phi_hat) * tan(theta_hat) * r);
 theta_hat_gyr(i) = theta_hat + dt * (cos(phi_hat) * q - sin(phi_hat) * r);

the result should in the form of vertical height.

thanks!

height accelerometer gyroscope kalman-filter sensor-fusion

share|improve this question

edited Mar 26 at 7:39

Ganesa Vijayakumar

70144 gold badges1010 silver badges2626 bronze badges

asked Mar 26 at 6:37

Asad BashirAsad Bashir

622 bronze badges

• 
  
  
  

  
  

  
  
  
  
  
  

  
  
  please any one can help me out in above mentioned problem ?
  
  – Asad Bashir
  Mar 28 at 5:13
  

  
  
  
  

add a comment | 

1

I want sensor fusion for accelerometer, gyroscope, and barometer.
so far I have estimate orientation using accelerometer and gyroscope.
now I want to combine the data from accelerometer and gyroscope with the barometer to find the vertical height.

so far I have estimate orientation using accelerometer and gyroscope.
now I want to combine the data from accelerometer and gyroscope with the barometer to find the vertical height.

 phi_hat_gyr(i) = phi_hat + dt * (p + sin(phi_hat) * tan(theta_hat) * q + cos(phi_hat) * tan(theta_hat) * r);
 theta_hat_gyr(i) = theta_hat + dt * (cos(phi_hat) * q - sin(phi_hat) * r);

the result should in the form of vertical height.

thanks!

height accelerometer gyroscope kalman-filter sensor-fusion

share|improve this question

edited Mar 26 at 7:39

Ganesa Vijayakumar

70144 gold badges1010 silver badges2626 bronze badges

asked Mar 26 at 6:37

Asad BashirAsad Bashir

622 bronze badges

• 
  
  
  

  
  

  
  
  
  
  
  

  
  
  please any one can help me out in above mentioned problem ?
  
  – Asad Bashir
  Mar 28 at 5:13
  

  
  
  
  

add a comment | 

I want sensor fusion for accelerometer, gyroscope, and barometer.
so far I have estimate orientation using accelerometer and gyroscope.
now I want to combine the data from accelerometer and gyroscope with the barometer to find the vertical height.

so far I have estimate orientation using accelerometer and gyroscope.
now I want to combine the data from accelerometer and gyroscope with the barometer to find the vertical height.

 phi_hat_gyr(i) = phi_hat + dt * (p + sin(phi_hat) * tan(theta_hat) * q + cos(phi_hat) * tan(theta_hat) * r);
 theta_hat_gyr(i) = theta_hat + dt * (cos(phi_hat) * q - sin(phi_hat) * r);

the result should in the form of vertical height.

thanks!

height accelerometer gyroscope kalman-filter sensor-fusion

share|improve this question

edited Mar 26 at 7:39

Ganesa Vijayakumar

70144 gold badges1010 silver badges2626 bronze badges

asked Mar 26 at 6:37

Asad BashirAsad Bashir

622 bronze badges

 phi_hat_gyr(i) = phi_hat + dt * (p + sin(phi_hat) * tan(theta_hat) * q + cos(phi_hat) * tan(theta_hat) * r);
 theta_hat_gyr(i) = theta_hat + dt * (cos(phi_hat) * q - sin(phi_hat) * r);

share|improve this question

edited Mar 26 at 7:39

Ganesa Vijayakumar

70144 gold badges1010 silver badges2626 bronze badges

asked Mar 26 at 6:37

Asad BashirAsad Bashir

622 bronze badges

share|improve this question

edited Mar 26 at 7:39

Ganesa Vijayakumar

70144 gold badges1010 silver badges2626 bronze badges

asked Mar 26 at 6:37

Asad BashirAsad Bashir

622 bronze badges

edited Mar 26 at 7:39

Ganesa Vijayakumar

70144 gold badges1010 silver badges2626 bronze badges

edited Mar 26 at 7:39

Ganesa Vijayakumar

70144 gold badges1010 silver badges2626 bronze badges

asked Mar 26 at 6:37

Asad BashirAsad Bashir

622 bronze badges

asked Mar 26 at 6:37

Asad BashirAsad Bashir

622 bronze badges

1 Answer
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I think a Kalman Filter is quite suited to your task. The best simple explanation i know of can be found here. It will give you temporal filtering as well as sensor fusion.

The difficult part is setting up the transition/measurement matrices. Since your problem is non-linear you will have to use the extended Kalman Filter, which uses different transition/measurement matrices as the state changes.

share|improve this answer

answered Jun 4 at 12:39

Richard K. WadeRichard K. Wade

30455 bronze badges

add a comment | 

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0

I think a Kalman Filter is quite suited to your task. The best simple explanation i know of can be found here. It will give you temporal filtering as well as sensor fusion.

The difficult part is setting up the transition/measurement matrices. Since your problem is non-linear you will have to use the extended Kalman Filter, which uses different transition/measurement matrices as the state changes.

share|improve this answer

answered Jun 4 at 12:39

Richard K. WadeRichard K. Wade

30455 bronze badges

add a comment | 

0

I think a Kalman Filter is quite suited to your task. The best simple explanation i know of can be found here. It will give you temporal filtering as well as sensor fusion.

The difficult part is setting up the transition/measurement matrices. Since your problem is non-linear you will have to use the extended Kalman Filter, which uses different transition/measurement matrices as the state changes.

share|improve this answer

answered Jun 4 at 12:39

Richard K. WadeRichard K. Wade

30455 bronze badges

add a comment | 

I think a Kalman Filter is quite suited to your task. The best simple explanation i know of can be found here. It will give you temporal filtering as well as sensor fusion.

The difficult part is setting up the transition/measurement matrices. Since your problem is non-linear you will have to use the extended Kalman Filter, which uses different transition/measurement matrices as the state changes.

share|improve this answer

answered Jun 4 at 12:39

Richard K. WadeRichard K. Wade

30455 bronze badges

share|improve this answer

answered Jun 4 at 12:39

Richard K. WadeRichard K. Wade

30455 bronze badges

answered Jun 4 at 12:39

Richard K. WadeRichard K. Wade

30455 bronze badges

answered Jun 4 at 12:39

Richard K. WadeRichard K. Wade

30455 bronze badges