I'm working on an android application to detect the human movements like FRONT, BACK, RIGHT, and LEFT.
So suppose that your phone is in front of your face, if you move it to left the X axe should give some negative values and if you move it up the Y axe should give some positive values, what is the best sensor for this job?
I think accelerometer isn't good for this job.
You should use the rotation vector or the gyroscope, if your device has them.
You can't know if the person using the device is walking (in any direction), because sensors are only relative to the device. You should use position to do that.
Related
I am using the accelerometer data to detect whether the phone is moving forward or backward. Assuming that the phone is held vertically parallel to the person's body, can we detect whether the phone is moving forward or backward while the person is moving?
Known parameters are:
Linear acceleration along all the three axes.
Ideally, Acceleration values should turn out to be positive when moving backward and negative while moving forward. But observing the values, it does not seem so. Is considering only acceleration about 'z' axis wrong?
Referred Questions:
Detect device forward backward movement => How do we create a direction vector and what is the need to monitor x-axis too?
You cannot assume, that you only have movement on z axis (be it now negative or positive, depending on starting or stopping), as the person will necessarily also move the phone (a little) to the side (x negative and positive) and up or down (y positive and negative) with each step. But the acceleration in z negative or positive should be a little stronger with each step. I'd calculate the means of around 10 to 20 steps before being 'sure' - better combine it with gps data.
I'm trying to move a game object when i raise/lower (Shake) my phone but I don't know how get the device's movement. I already know about Input.acceleration but that just gives me the devices rotation and I want it's actual movement.
Is this possible and how would I go about doing it?
Accelerometer reads the sum of: changes in movement (acceleration) + constant force of gravity. You can use it for directional movement in two ways:
Detect changes of gravity angle - when the device is not moving (or is moving at a constant speed) and is parallel to the ground, the accelerometer will read Earth's gravity, ie: new Vector3(0,-9.81,0). When the device is tilted (so not parallel to the ground), the vector's length will still be 9.81, but it will be rotated a bit like. new Vector3(3.03, -9.32, 0) (this example is rotation in one axis by 56 degrees (pi/10)). Using this will yield this kind of controlls: https://www.youtube.com/watch?v=3EU3ip4k0uE
Detect peaks of acceleration. When the device is still or moving with constant speed, the length of acceleration vector will be equal 9.81, when it changes/starts movement, this number will change. You can detect these changes and interpret this as one time momentary movement (like pressing an arrow).
There are alternatives not using an accelometer, for example you can detect some printed marker with Vuforia: https://www.youtube.com/watch?v=8RnlBEU5tkI - interpret the relative position to the marker as and action in a simmilar fashion as you'd detect acceleration change in #1.
I am working on an application which uses compass although I successfully implemented it but there is no such brief explanation that how it works. Like how the TYPE_ACCELEROMETER and TYPE_MAGNETIC_FIELD was used to get the orientation. I know we did get it and the zero index of the array we got is the azimuth from which we get the degree and came to know where north is. But how it get to this all. Can anyone explain please?
Secondly what if I place my mobile on the floor suppose it points in the direction of north when it is placed on ground now I take up my mobile and hold I upside down what will happen and why?
According to my understanding the direction shouldn't changed. I might be wrong, can anyone please guide to me on this. Thanks a lot.
You need both the Magnectic field and Accelerometer to calculate the compass direction. You can see why if you read the source code of the getRotationMatrix or for a more verbose explanation see Convert magnetic field X, Y, Z values from device into global reference frame
If you stand at the same place, the magnetic field does not change. That is the magnetic field vector returned in onSensorChanged should change very little. It is not the vector that change but the coordinates of the device that change. It is the meaning of what is being calculate and call the "compass direction" that confuses you. In this case the direction to be used as the "compass direction" is the direction of the y coordinate. Thus when you hold the phone vertically, the y coordinate points to the sky or the ground and it does not make sense to talk about "compass direction"
I'm taking a free online Android course, and this is the example code he uses to make a simple compass, you can look at that: https://github.com/aporter/coursera-android/tree/master/Examples/SensorCompass.
The way is works is that the phone senses the strongest "north" magnetic field, and points the arrow north, and then when the accelerometer moves, it changes the arrow according to that.
Also, if you hold the phone vertically above your head, the display will not be pointing north because the phone is not parallel to the ground.
I am working on an android app that requires the detection of vertical motion. When moving the tablet upward, the Gyroscope, Accelerometer, and Linear Acceleration sensors give a corresponding value indicating upward or downward motion.
The problem I have is that these sensors will also read an upward/downward motion when you tilt the tablet towards the user or away from the user. For example, the x value in the gyroscope represents the vertical plane. But when you tilt the device forwards, the x value will change.
When I make this motion, the same sensor that reads vertical motion reads a value for this.
The same goes for the rest of the sensors. I have tried to use orientation coupled with the gyro to make the conditional statement, if the pitch is not changing, but the x variable is going up/down, then we have vertical motion. The problem with this is that if the user moves it up but tilted slightly, it will no longer work. I also tried making it so if there is a change in tilt, then there is no vertical motion. But it iterates so quickly that there may be a change in tilt for 1/100 of a second, but for the next there isn't.
Is there any way I can read only vertical changes and not changes in the devices pitch?
Here is what I want to detect:
edit:
"Please come up with a mathematically sound definition of what you consider 'moving upwards.'"
This was my initial question, how can I write a function to define when the tablet is moving upwards or downwards? I consider a vertical translation moving upwards. Now how do I detect this? I simply do not know where to begin, thank you.
Ok, even though this question is fairly old, I see a lot of confusion in the present answer and comments, so in case anyone finds this, I intend to clear a few things up.
The Gyroscope
First of all, the gyroscope does not measure vertical motion as per your definition (a translatory motion). It measures rotation around each of the axes, which are defined as in the figure below. Thus having you tilt your device forwards and backwards indeed rotates it around the x axis and therefore you will see non-zero values in the x value of your gyroscope sensor.
the x value in the gyroscope represents the vertical plane.
I'm not sure what is meant by "the vertical plane", however the x value certainly does not represent the plane itself nor the orientation of the device within the plane.
The x value of the gyroscope sensor represents the current angular velocity of the device around the x axis (eg. the change in rotation).
But when you tilt the device forwards, the x value will change. When I make this motion, the same sensor that reads vertical motion reads a value for this.
Not quite sure what you're referring to here. "The same sensor that reads vertical motion" I assume is the gyroscope, but as previously said, it does not read vertical motion. It does exactly what it says on the tin.
The device coordinate system
This is more in response to user Ali's answer than the original question, but it remains relevant in either case.
The individual outputs of the linear acceleration sensor (or any other sensor for that matter) are expressed in the coordinate system of the device, as shown in the image above. This means if you rotate the device slightly, the outputs will no longer be parallel to any world axis they coincided with before. As such, you will either have to enforce that the device is in a particular orientation for your application, or take the new orientation into account.
The ROTATION_VECTOR sensor, combined with quaternion math or the getRotationMatrixFromVector() method, is one way to translate your measurements from device coordinates to world coordinates. There are other ways to achieve the same goal, but once achieved, the way you hold your device won't matter for measuring vertical motion.
In either case, the axis you're looking for is the y axis, not the z axis.
(If by any chance you meant "along device y axis" as "vertical", then just ignore all the orientation stuff and just use the linear acceleration sensor)
Noise
You mentioned some problems regarding noise and update rates in the question, so I'll just mention it here. The simplest and one of the more common ways to get nice, consistent data from something that varies very often is to use a low-pass filter. What type of filter is best depends on the application, but I find that a exponential moving average filter is viable in most cases.
Finishing thoughts
Note that if you take proper care of the orientation, your transformed linear acceleration output will be a good approximation of vertical motion (well, change in motion) without filtering any noise.
Also, if you want to measure vertical "motion", as in velocity, you need to integrate the accelerometer output. For various reasons, this doesn't really turn out too well in most cases, although it is less severe in the case of velocity rather than trying to measure position.
OK, I suspect it is only a partial answer.
If you want to detect vertical movement, you only need linear acceleration, the device orientation doesn't matter. See
iOS - How to tell if device is raised/dropped (CoreMotion)
or
how to calculate phone's movement in the vertical direction from rest?
For some reason you are concerned with the device orientation as well, and I have no idea why. I suspect that you want to detect something else. So please tell us more and then I will improve my answer.
UPDATE
I read the post on coremotion, and you mentioned that higher z lower x and y means vertical motion, can you elaborate?
I will write in pseudo code. You measured the (x, y, z) linear acceleration vector. Compute
rel_z = z/sqrt(x^2+y^2+z^2+1.0e-6)
If rel_z > 0.9 then the acceleration towards the z direction dominates (vertical motion). Note that the constant 0.9 is arbitrary and may require tweaking (should be a positive number less than 1). The 1.0e-6 is there to avoid accidental division by zero.
You may have to add another constraint that z is sufficiently large. I don't know your device, whether it measures gravity as 1 or 9.81. I assume it measures it as 1.
So all in all:
if (rel_z > 0.9 && abs(z) > 0.1) { // we have vertical movement
Again, the constant 0.1 is arbitrary and may require tweaking. It should be positive.
UPDATE 2
I do not want this because rotating it towards me is not moving it upwards
It is moving upwards: The center of mass is moving upwards. My code has the correct behavior.
Please come up with a mathematically sound definition of what you consider "moving upwards."
I am developing an app using android OS for which I need to know how can I calculate the movement of the device up in the vertical direction.
For example, the device is at rest (point A), the user picks it up in his hand (point B), now there is a height change between point A and point B, how would i calculate that?
I have already gone through the articles about sensors and accelerometers, but I couldn't really find anything to help me with that. Anyone have any ideas?
If you integrate the acceleration twice you get position but the error is horrible. It is useless in practice. Here is an explanation why (Google Tech Talk) at 23:20. I highly recommend this video.
Now, you do not need anything accurate and that is a different story. The linear acceleration is available after sensor fusion, as described in the video. See Sensor.TYPE_LINEAR_ACCELERATION at SensorEvent. I would first try a high-pass filter to detect sudden increase in the linear acceleration along the vertical axis.
I have no idea whether it is good for your application.
You can actually establish (only) the vertical position without measuring acceleration over time. This is accomplished by measuring the angle between the direction to the center of the earth, and the direction to the magnetic north pole.
This only changes (significantly) when the altitude (height) of the phone changes. What you do is use the accelerometer and magnetometer to get two float[3] arrays, treat these as vectors, make them unit vectors, and then the angle between any two unit vectors is arccos(AxM).
Note that's dot product ie. math.acos(A[0]*B[0]+A[1]*B[1]+A[2]*B[2]) Any change in this angle corresponds to a change in height. Also note that this will have to be calibrated to real units and the ratio of change in angle to height will be different at various longitudes; But this is a method of getting an absolute value for height; though of course the angle also becomes skewed when undergoing acceleration, or when there are nearby magnets :)
you can correlate it to magnetic field sensor in microTesla
You can use dist= integral of integral of acceleration ~ sigma ~ summation
= integral of speed+constant