Complementary filter (Gyro + accel) with Android

Question

Recently I have made some research to use both the accelerometer + Gyroscope to use those senser to track a smartphone without the help of the GPS (see this post) Indoor Positi

Answer 1

I test your code and found that probably the scale factor is not consistent. Convert the pitch to 0-pi gives better result. In my test, the filtered result is ~90 degrees.

pitch = (float) Math.toDegrees(Math.atan2(accel[1], Math.sqrt(Math.pow(accel[2], 2) + Math.pow(accel[0],   2))));
pitch = pitch*PI/180.f;

filtered_angle = weight * (filtered_angle + event.values[0] * dT) + (1.0f-weight)* (pitch);

Answer 2

I wrote a tutorial on the use of the Complementary Filter for oriëntation tracking with gyroscope and accelerometer: http://www.pieter-jan.com/node/11 maybe it can help you.

Answer 3

I can only repeat myself.

You get position by integrating the linear acceleration twice but the error is horrible. It is useless in practice. In other words, you are trying to solve the impossible.

What you actually can do is to track just the orientation.

Roll, pitch and yaw are evil, do not use them. Check in the video I already recommended, at 38:25.

Here is an excellent tutorial on how to track orientation with gyros and accelerometers.

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Answer 4

i tried and this will give you angle 90...

filtered_angle = (filtered_angle / 83) * 90;