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

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

AQTR_2022_paper_96.pdf