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Horizontal or vertical direction of the velocity estimation based on the acceleration measurements
Horizontal or vertical direction of the velocity estimation based on the acceleration measurements
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机译:基于加速度测量的速度估计的水平或垂直方向
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摘要
There is provided a method of determining an estimate of the velocity of a device in a horizontal or vertical direction, the method comprising obtaining measurements of the acceleration acting on the device in three dimensions; using a first filter and the obtained measurements to estimate acceleration due to gravity; estimating the acceleration acting in a horizontal or vertical direction due to motion of the device using the estimated acceleration due to gravity; integrating the estimate of the acceleration acting in said direction due to motion of the device to give an estimate of velocity in said direction; and using a second filter to remove offset and/or drift from the velocity to give a filtered velocity; wherein at least one of the first filter and second filter is a non-linear filter. An apparatus configured to operate according to the above method is also provided.
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