EXPERIMENTAL INVESTIGATION ON TECHNIQUES TO IMPROVE THE ACCURACY OF MPU 6050 FOR TILT MEASUREMENT
Keywords:Calibration, Signal Processing, Error Mitigation, Thermal Compensation, ANFIS, Navigation
This paper investigates the techniques for improving the accuracy of inertial measurement unit (IMU) to effectively determine the orientation of mobile platform. Usually IMU is a Micro Electro Mechanical System (MEMS) device composed of three axis accelerometer and gyro. The raw data coming out of the sensor does not give the actual value due to induced noise and drift that requires proper filtering and calibration to interpret the true output. In this research different approaches for improving the quality of tilt measurement (utilizing IMU) are briefly discussed. A novel scheme based on concurrent SISO ANFIS compensator is introduced to counter the thermal effects causing the interference in the tilt measurement. The efficacy of the IMU (MPU 6050) has been examined by implementing different strategies on a small scale experimental setup (consisting of mobile platform having capability to rotate in two dimensional axes) and analyzing the real-time measurements. The ATMAGA 2560 has been utilized for acquiring the measured data from IMU. The application of algorithms, software based calibrations, monitoring and analysis of the measured data is carried out in LabVIEW environment. The current investigation would help in selecting the suitable methodology for achieving the high performance application of IMUs. The results show that the Extended Kalman Filter (EKF) with integration of multiple IMU modules along with ANFIS based thermal compensator precisely detects the inclination level requiring high computational cost.