嗨，
我正在尝试使用LSM6DS33作为惯性导航辅助设备，参与传感器融合。问题是应用程序有大量的振动，加速度计数据非常嘈杂。我每秒需要大约25个加速度计采样，所以为了获得更平滑的信号，我已经启用了BW = 50Hz的模拟低通滤波器，加速度计ODR为104 Hz;我手动平均4个样本，同时读取它们以获得相当于26 Hz的ODR，减少混叠。
这比以前更好，但是在得到的平均样本中仍然存在一些噪声（在振动平台上测量的大约0.1g随机噪声）。我确认将加速度计ODR增加到208 Hz会进一步降低噪音（混叠）。但是这需要更多的I C流量和CPU时间，因此进一步增加ODR将是令人望而却步的。
我的问题是：是否可以设置LSM6DS33以833 Hz采样加速度计，平均每8个样本，并将结果放入FIFO（等效104 ODR）？或者以其他方式，获得低于50 Hz的等效低通滤波BW，理想情况下大约12 Hz？
作为参考，我当前的配置是：
CTRL1_XL = 0x4F; // acc setup - ＆gt; 104 Hz，8 g满量程，50 Hz带宽
CTRL2_G = 0x4C; //陀螺仪设置 - ＆gt; 104 Hz，2000 dps满量程
CTRL3_C = 0x44; //将BDU（块数据更新）位设置为高
CTRL4_C = 0x81; //启用FIFO长度限制; XL_BW_SCAL_ODR = 1（以及一些用于设置FIFO的无关代码）。
#low-pass-filter＃lsm6ds33
以上来自于谷歌翻译
以下为原文
Hi,
I'm trying to use the LSM6DS33 as an iner
tial navigation aid, participating in sensor fusion. The problem is that the application has large amount of vibrations and the accelerometer data is quite noisy. I need around 25 accelerometer samples per second, so to get a smoother signal I have enabled the analog low-pass filter at BW = 50Hz and the accelerometer ODR is 104 Hz; I average 4 samples manually whilst reading them to get equivalent ODR of 26 Hz with less aliasing.
This is better than before, but there's still some noise (around 0.1g random looking noise - measured on a vibrating platform) present in the resulting averaged samples. I verified that increasing the accelerometer ODR to 208 Hz decreases noise (aliasing) further. But that needs more I�C traffic and CPU time, so increasing the ODR even further will be prohibitive.
My question is: is it possible to set up the LSM6DS33 to sample the accelerometer at 833 Hz, average each 8 samples, and put the results in the FIFO (equivalent 104 ODR)? Or put in other way, to get an equivalent low-pass filtering BW lower than 50 Hz, ideally around 12 Hz?
For reference, my current config is:
CTRL1_XL = 0x4F; // acc setup -> 104 Hz, 8 g full scale, 50Hz bandwidth
CTRL2_G = 0x4C; // gyro setup -> 104 Hz, 2000 dps full scale
CTRL3_C = 0x44; // set BDU (block data update) bit high
CTRL4_C = 0x81; // enable FIFO length limit; XL_BW_SCAL_ODR=1(and also some unrelated code for setting up the FIFO).
#low-pass-filter #lsm6ds33
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