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Good Night. I have a implemented a accelerometer, a gyro and a Magnetometer in raspberry pi.

I want measure the linear acceleration (acceleration without gravity) but i don't know how to do it or if it is possible.

The device will be use to measure the pitch, roll, yam and linear acceleration in x,y,z of a small boat. Can some one help me please?

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    $\begingroup$ i want to remove the gravitacional acceleration from accelerometer readings $\endgroup$ – Tiago Portela Oct 18 '18 at 20:15
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    $\begingroup$ This is a common misconception regarding accelerometers. They do not and cannot sense gravity. They sense acceleration due to every force except gravity. An accelerometer at rest on a table registers an acceleration of 9.8 m/s^2 upward. How could this happen if accelerometers sensed gravity? Instead of removing gravitational acceleration, you need to add that unsensed downward acceleration due to gravitation. $\endgroup$ – David Hammen Oct 19 '18 at 2:23
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Usually you simply calibrate the system while it is setting on a level table. The reading is your local gravitational acceleration, which is taken as a constant.

You then enter this constant into the system, which is subtracted from the down axis.

It will certainly be more complex if you have to simultaneously correct multiple axes.

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  • $\begingroup$ The system(boat) rotate. In other words. The sensor is rotated when measure the acceleration. $\endgroup$ – Tiago Portela Oct 18 '18 at 20:29

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