Re: Kalman filter



mik wrote: 
I have a simple question (with a complex answer i suppose):

is it possible to decouple gravity and inertial acceleration, or better
filter out gravity from measures taken ONLY with a triaxial accelerometer
(without using other sensors as gyroscopes ecc); if it is, can a Kalman
filter minimize effect of gravity?

Seems it would be easy to calibrate it out by a measurement taken when it is known to be in at rest relative to the earth surface where you are. Thereafter just subtract it.

Or do you have reason to believe gravity's acceleration will be signifigantly changing while in operation? In that case it should still be calculable if you know the local relationship of gravity's acceleration with position. This doesn't violate GR because you are taking into account more than can be known from within a sealed elevator taking into account only local measurements.

In short, it should be instantaneously calculable and not require an adaptive filter.


Bob
--

"Things should be described as simply as possible, but no simpler."

                                             A. Einstein
.

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