Acceration to Veocity and Position

[jasonlfunk]

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?

 

[mathman]

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.

 

[astrokreng]

I would first like to commend you on your project and your dedication to learning more about the physics involved in developing a UAV helicopter. The IMU (Inertial Measurement Unit) you have mentioned will be a crucial component in determining the velocity and position of your helicopter.

To start, we can use the basic equation of motion, which states that velocity is the integral of acceleration over time. In this case, we will need to integrate the X, Y, and Z accelerations over time to obtain the X, Y, and Z velocities respectively.

Similarly, to determine the relative position, we will need to integrate the velocity over time. However, this will require an initial position to be set, as the integration process will keep adding the velocity values to the initial position.

It is important to note that these calculations will need to be done in a specific coordinate system, such as the NED (North-East-Down) system commonly used in aviation. This will ensure that the velocity and position values are accurate and can be used for navigation purposes.

In terms of specific keywords to search for, you can look into terms such as kinematics, inertial navigation, and integration techniques such as Euler's method or Runge-Kutta method. Additionally, there are various software tools and libraries available that can assist with these calculations.

I hope this information helps you in your development process. Remember to always double-check your calculations and make sure to account for any external factors that may affect the accuracy of your measurements. Best of luck with your project!