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Alexander Pacha
07.01.2016
2008 – 2011: Bachelor of Science at
University ofTechnologyVienna
2011 – 2013: Master of Science in Munich
and Augsburg
Since 2014: Software Developer at Zühlke
Since 2015:Trainer Clean Code (.NET)
at Zühlke Academy
2013: Goldfield Explorer
2013: Sensor fusion (Master thesis)
2013 – present: SightPlayer
 Gyroscope
 Accelerometer
 Compass
 Camera
 GPS
More sensors:
 Light and Proximity
 Microphone
 Thermometer
 Barometer
 Hygrometer
 CalibratedGyroscope
 Gravity
 LinearAccelerometer
 Orientation / RotationVector
Image from http://www.thousand-thoughts.com/2012/03/android-sensor-fusion-tutorial/
Image from http://www.thousand-thoughts.com/2012/03/android-sensor-fusion-tutorial/
Filters introduce latency
CalibratedGyroscope
Orientation / RotationVector
?
FusedResult = a * GyroOrientation + (1-a) * RotationVector
The more you move, the more you can correct
FusedResult = GyroOrientation + Velocity * RotationVector
VelocityRotation = GyroX + GyroY + GyroZ
 Euler-Angles: yaw, pitch and roll;
Suffers from gimbal lock.
 RotationVector: general form that specifies
rotation-axis (x, y, z) and angle (α)
 Rotation Matrix: 3x3 matrix that is often
used in computer graphics
 Quaternions: Similar to rotation vector but in
4-dimensional space.
Allows interpolating (SLERP)
Final result
https://bitbucket.org/apacha/sensor-fusion-demo

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I like to move it, move it - What your Android device really feels

Notes de l'éditeur

  1. Achtung: Magnetische Norden ist nicht zwingend tatsächlicher Norden: siehe Deklination
  2. Gravity can be obtained by fusing accelerometer and gyroscope Linear accelerometer in theory good, but not feasable for dead reckoning End of explaining graphics: You get a perfect orientation sensor! Well. Not really
  3. First: Filter introduce latency Second: Lets see it
  4. Problem with 1: Correction even if not moving (very annoying. Why does it move? I’m not moving. Floating objects)