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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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Original comments

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.

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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

This answer was ACCEPTED on the original site

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Original comments

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.

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