Reference frame conversion for a moving sphere

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Discussion Overview

The discussion revolves around estimating the total kinetic energy of a spherical particle using data from a MEMS sensor, specifically addressing the challenges of converting between reference frames for linear and angular velocities. The focus includes both theoretical and practical aspects of motion tracking using inertial sensors.

Discussion Character

  • Technical explanation
  • Debate/contested
  • Experimental/applied

Main Points Raised

  • One participant describes the need to estimate total kinetic energy, which consists of translational and rotational components, using outputs from a MEMS sensor.
  • Concerns are raised about estimating linear velocity from acceleration due to noise and drift issues, as the sensor provides data in a body frame rather than an inertial frame.
  • Another participant notes that converting frame references is a standard problem and suggests that there is existing literature on the topic.
  • Further clarification is requested regarding specific methods for frame conversion and potential filtering solutions to address drift.
  • Participants express a desire for feedback or suggestions tailored to the specific case presented.

Areas of Agreement / Disagreement

Participants acknowledge that the problem of tracking motion from inertial sensors is common and well-documented, but there is no consensus on the specific methods or solutions applicable to the case at hand.

Contextual Notes

Participants mention the need for filters to address drift issues and the distinction between body and inertial frames, indicating potential limitations in the sensor's output and the assumptions involved in frame conversion.

hfarhadi
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Hi

here is the situation; There's a spherical particle contained with a MEMS sensor (3D accelerometer and gyroscope) moving down a bed. What we want is to estimate the total kinetic energy of the particle. The total kinetic energy has two parts, translational part and rotational part. for the translational part we need the norm of the linear velocity and for the rotational part the norm of the angular velocity is needed. the sensor output delivers the angular velocity values (3D) but no linear velocity. It seems we need to conduct an acceleration integral to estimate linear velocity but the noise and drift issue is there. Also the sensor is body framed reference not inertial. For linear velocity we need to have an Eulerian frame but the sensor output is in Lagrangian frame.

Does anyone has an idea on this?
 
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hfarhadi said:
Does anyone has an idea on this?
It's a standard problem. Have you done any search on the web?
 
A.T. said:
It's a standard problem. Have you done any search on the web?
Yes. there are some methods to convert frame references but I need to know how it really needs to be done and if there's any need for any filters how to solve the drift issue etc.
 
hfarhadi said:
Yes. there are some methods to convert frame references.
I meant that specifically tracking motion from inertial sensors is a common problem, with tons of literature on it.
 
A.T. said:
I meant that specifically tracking motion from inertial sensors is a common problem, with tons of literature on it.
Yeah, sure it is. but any idea/suggest/feedback on the case is welcome.
 

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