saravians
Newbie level 6
hi,
I am using smartphone accelerometer and orientation sensors for pedestrian dead reckoning( to detect the steps taken). Orientaion sensors give me three values Yaw (Rotation around Zaxiz) , pitch (Rotation around x axiz), Roll (otation around (y axiz).
I am using the following roation matrix for transforming from body to ENU coordinates. (reference from a book, Global positioning systems, inertial navigation, and integration)
Ir=[sin(Y)*cos(P);cos(Y)*cos(P);sin(P)];
Ip=[cos(R)*cos(Y)+sin(R)*sin(Y)*sin(P);-cos(R)*sin(Y)+sin(R)*cos(Y)*sin(P);-sin(R)*cos(P)];
Iy=[-sin(R)*cos(Y)+cos(R)*sin(Y)*sin(P);sin(R)*sin(Y)+c os(R)*cos(Y)*sin(P);-cos(R)*cos(P)];
R=[Ir Ip Iy];
Ar=R*Ab
I want to resolve the problem of tilting in mobile. I mean if i keep mobile in my hand (facing upwardand) stationary, the acelerometer gives me reading A_enu= ( 0 0 -g). where g is the accelertaion due to gravity. If i tilt the mobile then there will be reading along other axis also e.g A_b=( x y z), I want to transform this tilted acceleration vector to ENU reference frame. My question is that when I transform to ENU(East North UP) frame should I get the values of acceleration like (0 0 -9.8) and also the rotation matrix that I am using is correct?right now i am getting confused results with this RM
many Thanks
ravi
I am using smartphone accelerometer and orientation sensors for pedestrian dead reckoning( to detect the steps taken). Orientaion sensors give me three values Yaw (Rotation around Zaxiz) , pitch (Rotation around x axiz), Roll (otation around (y axiz).
I am using the following roation matrix for transforming from body to ENU coordinates. (reference from a book, Global positioning systems, inertial navigation, and integration)
Ir=[sin(Y)*cos(P);cos(Y)*cos(P);sin(P)];
Ip=[cos(R)*cos(Y)+sin(R)*sin(Y)*sin(P);-cos(R)*sin(Y)+sin(R)*cos(Y)*sin(P);-sin(R)*cos(P)];
Iy=[-sin(R)*cos(Y)+cos(R)*sin(Y)*sin(P);sin(R)*sin(Y)+c os(R)*cos(Y)*sin(P);-cos(R)*cos(P)];
R=[Ir Ip Iy];
Ar=R*Ab
I want to resolve the problem of tilting in mobile. I mean if i keep mobile in my hand (facing upwardand) stationary, the acelerometer gives me reading A_enu= ( 0 0 -g). where g is the accelertaion due to gravity. If i tilt the mobile then there will be reading along other axis also e.g A_b=( x y z), I want to transform this tilted acceleration vector to ENU reference frame. My question is that when I transform to ENU(East North UP) frame should I get the values of acceleration like (0 0 -9.8) and also the rotation matrix that I am using is correct?right now i am getting confused results with this RM
many Thanks
ravi
