Kalman Filter estimation of angular acceleration

The Kalman filter is a commonly used tool to eliminate measurement noise occurring in the data most often taken from various sensors. The most common application is data filtration from accelerometers and gyroscopes, which are found, among others in smartphones and other modern devices. The Kalman filter is also an estimator, which allows the estimation of parameters that are not directly measured by the sensors but depend on the measurement quantities. This article will present the case of measuring angular velocity and linear acceleration measured during activity on a stationary bike. The sensor was placed on the leg of the person exercising. On the basis of angular velocity, the tests will determine angular acceleration not measured directly by sensors and comparison of the resultant linear acceleration with the resultant acceleration measured by sensors.