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I am trying to implement a research paper for my project and there is a formula which I am failing to interpret:

Formula

According to the research paper, we extract the static acceleration component for each axis ยต๐‘–,๐‘ก (i=X, Y, Z) by using a running mean filter (the formula), where t is time index, win_size is the window size, and ๐ด๐‘–,๐‘กโˆ— is the acceleration data, respectively.

The research paper using MPU6050 to implement this formula. My question is how do I calculate these values using MPU6050. I am currently using MPU6050_Light.h library to calculate acceleration values and I have no idea where to move from here.

Help would be greatly appreciated.

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  • You could change the limits to 0 to win_size - 1 so that they are compatible with C arrays. Then cycle around the array putting a new float into it at the current index while updating the sum and rolling average. Then update the index. Commented Sep 1, 2021 at 23:59
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    Are you asking about how to read the acceleration from the MPU6050? Or are you asking about how to compute a running average? Commented Sep 2, 2021 at 7:33
  • @EdgarBonet, Thank You for your reply. You have nudged me in the right direction by telling me about running average. I didn't know that this formula was of calculating running average since nothing was mentioned in the research paper. Commented Sep 3, 2021 at 9:35

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