Numerical integrator for inertial sensors in smartphone with application to tele-manipulation of robot

In order to design a small size, cheap, space sensing, and wireless communication human machine interface (HMI), we developed a smartphone-based system. It uses the accelerometer and the gyroscope of the smartphone to generate six commands. The velocity and position have to be estimated using the measured acceleration. In this paper, offset cancellation and high-pass filtering techniques are combined effectively to solve common problems in numerical integration of acceleration signals in real-time applications. The integration accuracy is improved compared with other numerical integrators.