3 ms·
I was always under the impression that integrating unknown biases in gyroscope and accelerometer measurments is the main issue with dead reckoning. Today I am
by donquichotte 7y ago
I was always under the impression that integrating unknown biases in gyroscope and accelerometer measurments is the main issue with dead reckoning.
Today I am convinced that attitude errors are the far bigger issue, since they will make you misinterpret gravity as genuine acceleration.
Even with a 1° error in your pitch estimate, you will start integrating 9.81ms^-2*cos(1°) = 0.17ms^-2 as a forward acceleration. Within one minute, you are 308m off already. This is the real issue with dead reckoning IMO.
- salty_biscuits 7y agoIt's complicated. It depends on the sensor and the motion of the object. Because the gravity vector doesn't change spatially very quickly if you are doing loops you can use the accelerometers to calibrate the gyro biases in the sensor fusion loop (via the gravity vector). You can also use the magnitude of the vector to calibrate the accelerometers (roughly). Nothing helps pin all that stuff down like a global position measurement though. Some sensors are just less prone to bias drift as well.