# Estimate position from inertial data

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Swapnil Sayan Saha
on 14 Jan 2020

Commented: Swapnil Sayan Saha
on 12 May 2022

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Martin Seyr
on 24 Apr 2020

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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