I have an application involving integrating accelerometer readings to obtain position. The application is essentially a mass/spring/friction problem, but with places where the mass is halted _very suddenly_. The spring force must then build up enough for the mass to break free from where it is stuck. Movement is away from the center of the Earth, so when the mass breaks free it can move upward quickly, overshooting the endpoint of the spring, and then fall back (it doesn't just oscillate, it actually travels over the same interval more than once)
Also:
1) I can process the data at a later time instead of in real time, so I can "looking into the future" data-wise
2) I have an independent measure of average velocity
3) I know my end position as well as starting position
4) There are points where it is very clear that no motion is taking place (velocity = 0) .
For this problem is a Kalman filter the best choice?
Should I restart integration at the zero velocity points?
2007-08-14
08:06:51
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2 answers
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asked by
dogsafire
7
in
Engineering