c - 如何通过C中的加速度计计算速度？

Question

我将传感器放在窗口上，并移动窗口以获得x轴方向的速度和距离。但是当我停止移动时，速度读数不为零，这会导致距离测量错误。

如何获得准确的计算速度？

代码：

      static float acceleration[3] = {0.0, 0.0, 0.0};
      static float pre_velocity = 0.0;
      static float velocity     = 0.0;
      static float position     = 0.0;

     //get physical acceleration
      LSM6DSO_FIFO_OutRawGet(acceleration);
      lsm6dso_from_fs2_to_mg(acceleration);
      acceleration[0] = (acceleration[0] /1000) * 9.81f;
      acceleration[1] = (acceleration[1] /1000) * 9.81f;
      acceleration[2] = (acceleration[2] /1000) * 9.81f;

      //low pass filter
      acceleration[0] = LPF2pApply_1(acceleration[0]);
      acceleration[1] = LPF2pApply_2(acceleration[1]);
      acceleration[2] = LPF2pApply_3(acceleration[2]);

     //accel mechanical noise filter
      if(fabs(acceleration[0]) <= ACC_MECHANICAL_FILTER_TH)
      {
        acceleration[0] = 0;
      }
      // Double integration
      if(acceleration[0] != 0)
      {
        velocity = pre_velocity + (acceleration*dt);
        position = position + pre_velocity*dt + (0.5*acceleration*dt*dt);
        pre_velocity = velocity;
      }