问题
I want to use gyro, accelermeter and magnetometer to get a full smooth rotation in 3 axis.
The first problem is that my outputs individualy has very noise and I want to know how can I remove it.
The second problem is the gyro drift that I think it should solve with Kalman filter.
The third problem is the accelerometer. If I combine the gyro and accelermeter when I move the device without rotating the device the output will change. Is Kalman filter can remove the moving effect from output too?
回答1:
the first problem is that my outputs individualy has very noise and i want to know how can i remove it.
Yes, that is natural, do not worry, you can remove the noise.
the second problem is the gyro drift that i think it should solve with kalman filter.
Yes, Kalman filter is one way to go. You may find these answers useful:
Sensor fusioning with Kalman filter
Combine Gyroscope and Accelerometer Data
the third problem is the accelerometer.if i combine the gyro and accelermeter when i move the device without rotating the device the output will change.
I am not sure I understand that correctly. If you have magnetometer Kalman filter can remove the gyro drift even if you are not rotating the device. Is that what you are asking?
EDIT: Depending on your application, you can assume that the acceleration is zero on average. Read this, especially page 24:
http://gentlenav.googlecode.com/files/DCMDraft2.pdf
I use this assumption in my application for human motion sensing and it works perfectly.
来源：https://stackoverflow.com/questions/5314217/gyro-accelerometer-magnetometer-and-kalman-filter