How to determine relative position using accelerom

问题:

I am designing a robot, and need to track the distance and direction of the robot motion, Nothing in 3D, I only need x,y and angle in x y plane.

My question :

1. Is it possible to use gyro and accelerometer with kalman filtering or any other methods to track this? (I do not have motor encoders)

My constraints : I do not have space to include a gps (due to power requirements) or motor encoders (due to motor support)

回答1:

No, not really. If you integrate the accelerometer values twice you get position but the error is horrible. It is useless in practice.

Here is an explanation why (Google Tech Talk) at 23:20.

A related question is probably this.