Using matlab to remove drift from integrated accelerometer data

조회 수: 74(최근 30일)
Jack Upton
Jack Upton 2020년 4월 12일
답변: Rajani Mishra 2020년 4월 16일
Hi all,
I am using the sensors within my phone to generate a CSV file of accelerations in 3-axis (x,y,z). I have now imported the data to matlab using the CSVread funtion and have began processing the data.
I have applied a filter to reduce some of the noise from the signal however upon integration the signal still drifts. The code I am using is shown below, for simplicitys sake I am only showing data from one axis. Any help is appreciated
clear; close; clc;
t=D(:,1); %Define time
XAccRaw=D(:,5); %Define X acceleration
XAcc=XAccRaw*9.81; %Convert to m/s^2
d=designfilt('lowpassfir','filterorder',10,'CutOffFrequency',10,'SampleRate',100); %Lowpass FIR filter
AX=filtfilt(d,XAcc); %Apply filter to data
VX=cumtrapz(t,AX); %Integrate acceleration to get velocity
SX=cumtrapz(t,VX); %Integrate velocity to get displacement
xlabel(Time (s));
ylabel(Displacement (m))


Rajani Mishra
Rajani Mishra 2020년 4월 16일
To resuce signal drift you can try detrending your signal for that you can use "detrend" function. Also, refer to below given MATLAB answers questions for other ways to reduce the signal drift:
Hope this helps!

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by