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
Last synced: 3 months ago
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Data Fusion via Quaternions for MPU-6050 Accelerometer & Gyroscope
- Host: GitHub
- URL: https://github.com/andreimoraru123/imu
- Owner: AndreiMoraru123
- License: mit
- Created: 2022-07-18T11:59:19.000Z (almost 3 years ago)
- Default Branch: master
- Last Pushed: 2023-05-04T08:26:13.000Z (about 2 years ago)
- Last Synced: 2025-03-08T13:08:20.317Z (3 months ago)
- Topics: accelerometer, arduino, butterworth, gyroscope, imu-sensor, imufilter, kalman-filter, matlab, mpu-6050, quaternion, romanian, sensor-fusion
- Language: MATLAB
- Homepage:
- Size: 24.4 KB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Sensor Fusion for Inertial Measurement Unit MPU-6050

## 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
:-------------------------:|:-------------------------:
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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)