Sensor fusion notes

• Accelerometers and Gyroscopes - Sensor Fusion #1 - Phil's Lab #33

         ( https://www.youtube.com/watch?v=RZd6XDx5VXo&t=0s ) 

• why sensor fusion 
• overcome the limitation of the single sensor
• indirect measurement 
• eg. altitude measurement 
• aircraft altitude measurement
• roll, pitch, yaw
• 3d accelerometer 
• 3d gyroscope 
• https://www.maximintegrated.com/en/design/technical-documents/app-notes/5/5830.html#:~:text=Accelerometer%20Versus%20Gyroscope&text=Accelerometers%20measure%20linear%20acceleration%20(specified,and%20d2%20will%20not%20change.
•      Euler measurement, spherical coordinates
• measure all acceleration along each body axis 
• a = [ax , ay , az]
• m/s^2
• Accelerometer model
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• 

       in idle scenario 

     

• the angle can be found from the linear measurement of acceleration

•