Acceration to Veocity and Position

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To derive current X, Y, Z velocity and relative position from IMU measurements, integration of acceleration data is necessary. Initial conditions for velocity and position are required to accurately predict future states. The discussion emphasizes the importance of understanding the relationships between acceleration, velocity, and position. Suggestions for further research include looking into numerical integration methods and relevant physics concepts. Properly applying these principles will enhance UAV helicopter development.
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I am developing a UAV helicopter. I have an IMU that measure X,Y,Z accelerations, X,Y,Z angles and X,Y,Z angular rates. From these, I want to derive the current X,Y,Z velocity and X,Y,Z relative position. It's been awhile since physics class. :) I know that there is going to be some integration, but I'm not sure the words to search for the answers. Where do I start?
 
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Since acceleration is change in velocity and velocity is change in position, you would need some initial conditions (velocity and position) to predict the future from the acceleration.
 

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