I would like to get some advice and help on my sensor's placement.
I have two sensors on my robot, one of it is the Accelerometer:
Another sensor is the gyroscope:
I know how to read the raw data of the accelerometer and convert it to it's pitch and roll. Similarly, I also know how to read the raw data of the accelerometer and convert them to dps for each axis.
From my research I understood that the xyz axis can be represented by:
Roll - Rotation about the x axis.
Pitch - Rotation about the y axis.
Yaw -Rotation about the x axis
On my robot I mounted the sensor in this manner:
https://drive.google.com/file/d/1GeUxvu ... 7-5gg/view
(I realise that the image is not displayed in the thread so I attached a link, I am sorry.)
In my actual application, I am only concern about rotating around the y axis of the accelerometer (The sensor on top).
I would like to do a sensor fusion on the data e.g kalman. When I pass in the y axis's calculated pitch data from trigonometry into the kalman filter, do I pass in the x-axis data or y-axis data of the gyroscope (sensor on the bottom) into the kalman filter.
I have some confusion as the xy axis's orientation of both the sensor is different. Is it more correct to use the x-axis's data of the gyroscope (as it is in the same direction as the y-axis of the accelerometer) or is there more to it?