Motion-With-Accelerometer

A simple Arduino-based inertial motion tracker using a 3-axis analog accelerometer (e.g., ADXL335).
The sketch reads raw acceleration, removes sensor bias, integrates acceleration to estimate velocity and position, and streams all telemetry over Serial.

How It Works

• Reads analog values from the X, Y, and Z axes.
• Converts ADC readings into acceleration (g units).
• Calibrates the sensor by averaging samples while the device remains still.
• Removes sensor bias and subtracts gravity from the Z-axis.
• Integrates acceleration over time to estimate:
  • Velocity
  • Position
• Streams all telemetry over Serial for logging or visualization.

Features

• Lightweight Arduino implementation
• Automatic bias calibration on startup
• Adjustable sampling interval
• Real-time telemetry output
• Basic inertial navigation using classical kinematics

Limitations

This is a simplified inertial tracker.
Analog accelerometers accumulate noise and drift quickly when integrated.
Without additional sensors (gyroscope, magnetometer, GPS), long-term position accuracy will degrade.

Hardware Requirements

• Arduino board (Uno, Nano, etc.)
• ADXL335 or compatible analog 3-axis accelerometer
• 3 analog input pins (A0, A1, A2)

Serial Output Format

dt:<seconds>,ax:<g>,ay:<g>,az:<g>,vx:<m/s>,vy:<m/s>,vz:<m/s>,px:<m>,py:<m>,pz:<m>

License

MIT License