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Estimate position from inertial data

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Can someone provide me an example of how kalman filters can be used to estimate position of an object from 6DOF/9DOF IMU data. All examples I have seen just seem to find orientation of the object using ahrs/imufilter.

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Accepted Answer

Bhargavi Maganuru
Bhargavi Maganuru on 1 Apr 2020

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Swapnil Sayan Saha
Swapnil Sayan Saha on 4 Apr 2020
These either require GPS or uses IMU to give orientation only, not position. Was looking for something that gives position without GPS.

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Martin Seyr
Martin Seyr on 24 Apr 2020
hello,
you need to integrate the accelerometers if you want to calculate linear positions. this will be subject to quadratic error propagation over time, so it is necessary to periodically reset the integrator.
it works like this: you use the orientation calculated from the fusion algorithm (kalman filter or some other algorithm) to rotate locally measured accelerations into the world frame. then you subtract nominal gravity, then you integrate twice.
good luck,
Martin

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Linda Scarzanella
Linda Scarzanella on 13 Jul 2020 at 9:23
I tried not to filter the acceleration, but I get noisy signal!
About the notation of acceleration: I use the orientation to get acceleration in the world reference frame.. is that wrong ? I need to remove the gravity also
Yes, I want to track the position of the tip of an endoscope for my thesis project.I need to record and display real-time (or display later) the position of the sensor/tip.
I'm pretty new to everything!!
Swapnil Sayan Saha
Swapnil Sayan Saha on 16 Jul 2020 at 1:08
Although it includes GPS but GPS is not really needed, though errors are likely rise in the long run without GPS.

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