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

Awesome Lists containing this project

README

        
# 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)