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https://github.com/andreimoraru123/imu

Data Fusion via Quaternions for MPU-6050 Accelerometer & Gyroscope
https://github.com/andreimoraru123/imu

accelerometer arduino butterworth gyroscope imu-sensor imufilter kalman-filter matlab mpu-6050 quaternion romanian sensor-fusion

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Data Fusion via Quaternions for MPU-6050 Accelerometer & Gyroscope

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# Sensor Fusion for Inertial Measurement Unit MPU-6050

![Arduino](https://img.shields.io/badge/-Arduino-00979D?style=for-the-badge&logo=Arduino&logoColor=white)

## Data fusion solution for IMU sensors in MATLAB

Run `ArduinoQuaternion.m` first to get the biases (sensors have run-to-run biases). Then run `StateOfTheArtComparison.m` to see the differences between this solution and MATLAB's own `imufilter` implementation.

## Harware Config: Arduino Nano 3 + MPU-6050 (accel & gyro)

Hardware | Specs
:-------------------------:|:-------------------------:
|



![image](https://user-images.githubusercontent.com/81184255/179507342-5f3b7f15-19e0-4187-96d0-5f9744cfb9d0.png)

Here is the written version of all of this (AQTR 2022):

[AQTR_2022_paper_96.pdf](https://github.com/AndreiMoraru123/SensorFusion/files/10094538/AQTR_2022_paper_96.pdf)