"Sean H. Breheny" <shb7@CORNELL.EDU> wrote:
> We have an excellent and expensive inertial measurement unit but we need
> to know the magnitude of the gravity vector in order to subtract it out
> properly. Hundreds of microG can make a significant difference in
> accuracy. There probably are ways to use the IMU to measure what I need
> to know accurately enough, but because we are so close to the IMU's level
> of inaccuracy, I thought I would try to find out the actual value.

Take a reading, flip the unit over (exactly 180 degrees), take another
reading. Half the difference is the value you're looking for. This
technique also compensates for any offsets in the IMU itself.

-- Dave Tweed

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