Hi,
I am trying to use a MPU6050 Sensor to recognise human activities. I am allready reading the raw sensor data from the Registers of the Sensors.
In an article about nearly the same topic the author writes about decomposing the Raw Data (ax,ay,az) to gravity acceleration (gx,gy,gy) and body acceleration (bx,by,bz).
What is each of those three?
What is the difference between the RD, GA, BA?
How do I calculate each?
I really hope someone can help me. Thanks,
Nicklars
Raw acceleration data comes from the accelerometer.
Gravity acts on everything, and is measured by the accelerometer.
Other forces can cause acceleration, and that is added vectorially to the acceleration due to gravity.
To remove the effect due to gravity, you must accurately know the direction to the center of the Earth in the frame of reference of the accelerometer, and subtract 9.8 m/s/s in that direction from the measured acceleration vector.
So:
Raw Data:
Just the Integer Values that come directly from the Sensor
Gravity Acceleration:
Acceleration + Gravity
Body Acceleration:
Acceleration (without gravity)
Am I getting this right?