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Understanding Accelerometer & Gyro Drifts

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Johnny101

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Hi Guys,

I have been trying to understand the accelerometers and gyroscopes and have a few questions:

- How does integration produce the offsets in the readings when trying to calculate the position?
- Is the drift in accelerometers going to be more as compared to a gyro as we will integrate the acceleration twice?
- How can the accelerometer give you absolute orientation in the up-down plane?
- How can sensor fusion of accelerometer and gyro reduce the drifts?
- Lastly, if anyone has worked with mpu6050 in dmp mode does it already have algorithms to cater for the drifts?

Plus I actually wan't to measure angles produced by the hand rotations.

Thanks in advance.
 

- How does integration produce the offsets in the readings when trying to calculate the position?
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Integration is actually summing: x <= x + new_x. So if there's an error - it accumulates with each summation.
Is the drift in accelerometers going to be more as compared to a gyro as we will integrate the acceleration twice?
Click to expand...
The sensors don't drift - they just give you a result which isn't 100% accurate. It's the nature of the mathematical operation that you do with that (not 100%) data that causes a "drift" in your calculations.
How can sensor fusion of accelerometer and gyro reduce the drifts?
Click to expand...
Not an expert in the field - but I think sensor fusion algorithms use data from multiple sensors and in that way compensate for error.
 

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