# how to use Accelerometer raw data to Estimate Position and Velocity

I used MMR from mbientlab, I have 3D raw Accelerometer data (in g).

1. I need to find the velocity and position from it using Matlab. I used the integration once and twice but I'm not quite sure with the results. I guess I missed something like DC offset, increasing the error due to integration, etc.?

2. Do I need to filter the data at some stages?

any help?

## Comments

This is not an easy solve. There are many white papers on this subject and I suggest reading through them.

I recommend filtering the raw accelerometer data with a filter and maybe an averager. The white papers will also tell you what they did to clean up the data.

Here is an example: http://www.chrobotics.com/library/accel-position-velocity