3축 가속도 자이로 센서를 이용한 속도값 산출 알고리즘

In this paper, we propose an algorithm that corrects the acceleration value by calculating the gravity acceleration value applied to each axis by using the angle value according to the gravity acceleration. First, acceleration and angular velocity are measured using a 3 - axis acceleration gyro sensor. Second, the measured value of the 3-axis acceleration gyro sensor integrates the angular velocity and measures how tilted it is in real time.Third, after measuring the angle, the acceleration must be subtracted from the gravitational acceleration. At this time, the degree of influence of gravitational acceleration varies depending on the inclined angle, so it should be subtracted in consideration of the angle.Fourth, integrating the value obtained by subtracting the value of gravitational acceleration in consideration of the angle makes it possible to obtain the speed value having the direction, not the speed value having only the size. Experimental results confirm that the acceleration value obtained by subtracting the gravitational acceleration from the measured value of the 3-axis acceleration gyro sensor and the speed value obtained by integrating the measured value can obtain the normal speed value, proving the efficiency of the proposed algorithm in this paper.