4 ms·

I haven't implemented one myself, but Kalman filters are frequently used for this. Search HN's history to find several (presumably) good introductions.

• folli 10y ago
  Awesome! I'll check it out
• rawnlq 10y ago
  Kalman filters can get really complicated (EKF, UKF, adaptive, etc etc) and needs to be tuned with the correct covariances. Complementary filters works well enough and is very simple to implement even if you're a noob (e.g., high pass on accelerometer and low pass on gyro).
  • duerrp 10y ago
    There's a lot of libraries that do the hard work for you though... Anyway, if an EKF is too much effort, you could also try the "Madgwick" filter: Madgwick, S. O., Harrison, A. J., & Vaidyanathan, R. (2011). Estimation of imu and marg orientation using a gradient descent algorithm. In Proceedings of the IEEE International Conference on Rehabilitation Robotics
    • folli 10y ago
      The Madgwick filter seems to be popular for gyroscope applications, this might be very helpful. Thanks!