Gyro Sensor drift and Correct angle Estimation

android accelerometer gyroscope coordinate-transformation
Navigator picture Navigator · Aug 30, 2011 · Viewed 20.5k times · Source

I am using LG Optimus 2x smartphone(Gyroscope and Accelerometer sensor) for positioning.

I want to get correct rotation angles from gyroscope that can be used later on for body to earth coordinate transformation. My question is that

How I can measure and remove the drift in gyro sensor.

The one way is to take the average of gyro samples (when mobile is in static condition) for some time and subtracting from current sample, which is not good way.

When the mobile is in rotation/motion how to get the drift free angles?

Answer

Ali picture Ali · Nov 9, 2011

As far as I know, either the Kalman filter or something similar is implemented in the SensorManager. Check out Sensor Fusion on Android Devices: A Revolution in Motion Processing.

You are trying to solve a problem that is already solved.

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