Estimate position from inertial data

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Can someone provide me an example of how kalman filters can be used to estimate position of an object from 6DOF/9DOF IMU data. All examples I have seen just seem to find orientation of the object using ahrs/imufilter.
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BOUCHILAOUN Yacine
Hello
I have a question if you don't mind, I use data from an IMU sensor to determine positioning in the civil engineering field. I am using MATLAB code to do this. For the moment I don't have the right result compare by the real case.
Did you have a satisfactory result according to your studies?
Swapnil Sayan Saha
Swapnil Sayan Saha 2022-5-12
Yes. https://www.researchgate.net/publication/360075622_TinyOdom_Hardware-Aware_Efficient_Neural_Inertial_Navigation

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Bhargavi Maganuru
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Martin Seyr
Martin Seyr 2020-4-24
hello,
you need to integrate the accelerometers if you want to calculate linear positions. this will be subject to quadratic error propagation over time, so it is necessary to periodically reset the integrator.
it works like this: you use the orientation calculated from the fusion algorithm (kalman filter or some other algorithm) to rotate locally measured accelerations into the world frame. then you subtract nominal gravity, then you integrate twice.
good luck,
Martin
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Andrea Gusmara
Andrea Gusmara 2020-9-1
HI linda , have you finally found the solution of the wrong position problem ? Beacause I found myself in the same problem for my thesis.
Swapnil Sayan Saha
It's best to not dead-reckon in z axis. I have observed similar phenomena from real-world data. In my MS thesis I am discussing the implications of inaccurate z axis localization. Better option is to use a pressure sensor or some other sensor (e.g. GPS if available, acoustics, Radar etc.)

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