Test Experiment Design for IMU-Based Angle Measurement Systems

Inertial Measurement Unit (IMU) sensors are used in many applications that include aviation, vehicle systems, unmanned aircraft, indoor navigation, health, and robotic systems. An IMU consists of accelerometers gyroscope combined a single module. However, the accelerometer or alone cannot produce reliable data, so outputs to determine accurate data for measurements such as direction, velocity, angular velocity position. The collected from may differ due measurement errors, calibration issues, errors ambient noise. Small can cause large deviations applications. There is no clear distinction between performance area use commercially available sensors. Therefore, when selecting sensor, requirements should be determined choosen accordingly. This study investigates three have specific application common use. experimental setup was designed implemented test accuracy acceleration gyroscopic information obtained apparatus encoder, stepper motor Raspberry Pi. encoder connected shaft, sensor mounted on rotating moving mechanism. controlled by Python programming language has been control software. provides rotation desired angle velocity. Acceleration received drawn real time. All were first calibrated then taken. compared using values around x-axis. rotated at certain x-axis motor. each read processed through Kalman filter. with reference data.