LSM6DS3传感器不动时噪音

嗨，我正在使用LSM6DS3传感器，这是我第一次使用传感器类型。我正在尝试读出陀螺仪数据，但当传感器不动时它非常噪音。这是我的日志：
-120

-93
-127
-69
-79
-41
-85
-97
-72
-57
-85
-108
-59
-42
-58
-56
-66
-91
-73
-81
-64
-107
-60
-48
-77
-96
-80
-68
-57
-75
-71
-56
-64
-68这是我的配置：
LSM6DS3_WriteReg（LSM6DS3_REGISTER_CTRL1_XL，0x61）;

LSM6DS3_WriteReg（LSM6DS3_REGISTER_CTRL2_G，0x6c）;
LSM6DS3_WriteReg（LSM6DS3_REGISTER_CTRL3_C，0x44）;
LSM6DS3_WriteReg（LSM6DS3_REGISTER_CTRL4_C，0x02）;
LSM6DS3_WriteReg（LSM6DS3_REGISTER_CTRL5_C，0x00）;
LSM6DS3_WriteReg（LSM6DS3_REGISTER_CTRL6_C，0x00）;
LSM6DS3_WriteReg（LSM6DS3_REGISTER_CTRL7_G，0x40）;
LSM6DS3_WriteReg（LSM6DS3_REGISTER_CTRL8_XL，0x00）;
LSM6DS3_WriteReg（LSM6DS3_REGISTER_CTRL9_XL，0x38）;
LSM6DS3_WriteReg（LSM6DS3_REGISTER_CTRL10_C，0x38）;有人可以给我建议吗？索里为我的坏女人。

＃lsm6ds3

以上来自于谷歌翻译

以下为原文

Hi, i am working with LSM6DS3 sensor, this is the first time i work with type of sensor. i am trying to read out gyro z data, but it very noise when sensor is immobile.Here is my log:
-120

-93
-127
-69
-79
-41
-85
-97
-72
-57
-85
-108
-59
-42
-58
-56
-66
-91
-73
-81
-64
-107
-60
-48
-77
-96
-80
-68
-57
-75
-71
-56
-64
-68and here is my config:
LSM6DS3_WriteReg(LSM6DS3_REGISTER_CTRL1_XL, 0x61);

LSM6DS3_WriteReg(LSM6DS3_REGISTER_CTRL2_G, 0x6c);
LSM6DS3_WriteReg(LSM6DS3_REGISTER_CTRL3_C, 0x44);
LSM6DS3_WriteReg(LSM6DS3_REGISTER_CTRL4_C, 0x02);
LSM6DS3_WriteReg(LSM6DS3_REGISTER_CTRL5_C, 0x00);
LSM6DS3_WriteReg(LSM6DS3_REGISTER_CTRL6_C, 0x00);
LSM6DS3_WriteReg(LSM6DS3_REGISTER_CTRL7_G, 0x40);
LSM6DS3_WriteReg(LSM6DS3_REGISTER_CTRL8_XL, 0x00);
LSM6DS3_WriteReg(LSM6DS3_REGISTER_CTRL9_XL, 0x38);
LSM6DS3_WriteReg(LSM6DS3_REGISTER_CTRL10_C, 0x38);Someone can give me advice? Sory for my bad eglish.

#lsm6ds3

李伟

2019-2-12 15:05:23

我试着计算角度，但它漂移了。这是我的代码
temp = LSM6DS3_ReadGyroZ（）;

if（校准＆lt; 200）{
if（temp＆lt; GyroLowZ）
GyroLowZ = temp;
if（temp＆gt; GyroHighZ）
GyroHighZ = temp;
calibration ++;} else {

if（temp＆gt; GyroHighZ || temp＆lt; GyroLowZ）{
AngleZc =（float）（temp * k * dt）;
} else {
AngleZc = 0;
}
AngleZ + = AngleZc;
} k = 0.07（比例= 2000dps），dt = 0.0025。我曾使用过
校准功能在启动时有200次，但效果不佳。

以上来自于谷歌翻译

以下为原文

I try to caculate angle but it was drifted. here is my code
temp = LSM6DS3_ReadGyroZ();

if (calibration < 200) {
if (temp < GyroLowZ)
GyroLowZ = temp;
if (temp > GyroHighZ)
GyroHighZ = temp;
calibration++;} else {

if (temp > GyroHighZ || temp < GyroLowZ) {
AngleZc = (float) (temp * k * dt);
} else {
AngleZc = 0;
}
AngleZ += AngleZc;
}with k=0.07(scale= 2000dps), dt=0.0025.I had used an
calibration funtion with 200 times when start but it isnt effective.