MPU9250 Sensor Fusion

This is the repository for the method to fuse IMU(Gyrosensor, Accelerometer, Magnetometer) by using extended kalman filter.

Experiment environment

Equiment	Name
IMU	MPU-9250
Main Controller	Arduino-UNO

the wiring for the sensor is arraged as shown in the image below.

System Diagram

• Euler Gyro: Moudle that receives angular velocity and calculates the euler angle.
• Euler Accel: Module that receives acceleration from accelerometer and calculates euler angle rates.
• Extended Kalman Filter: Module that calculates euler angle by combining data of a gyro sensor and an accelerometer.
• Tilt Compensation: Module that calculates heading angle(yaw) by receiving output of extended kalman filter(roll, pitch) and magnetometer sensing data.

Result

the final result of this repositoy is arraged as shown in the figure below.

Reference

• https://electronics.stackexchange.com/questions/525266/tilt-compensation-for-yaw-calculation-from-magnetometer-and-accelerometer
• https://www.diva-portal.org/smash/get/diva2:1127455/FULLTEXT02.pdf
• https://link.springer.com/article/10.1007/s42401-022-00131-3