Evaluation of Microelectromechanical System Gyroscope and Accelerometer in the Object Orientation System Using Complementary Filter

摘要

Modern production is impossible without automated control systems, including small-sized ones based on Microelectromechanical systems (MEMS). Currently, a large number of varieties of micromechanical systems: various sensors of physical quantities (pressure, angular velocity, accelerometer, etc.) for automation and control of technological systems, robotic systems, transportation mechanisms, and systems functioning in manufacturing and the economy. Microelectromechanical gyroscopes and accelerometers included in such systems are mostly utilized in gyro tachometers, strap-down inertial navigation, and orientation systems, and are the main part of automation and control systems. A method for designing a complementary filter to measure angle estimation at the exact level by using gyroscope and accelerometer sensors is presented and considers the behavior of the complementary filter in Matlab by the microcontroller that has been purposed in this work. Besides, for our experiment, MPU6050 MEMS sensor (3-axes accelerometer and 3-axes gyroscope) have been used. The use of the complementary filter in the estimation of the orientation system allows improving the MEMS accelerometer and gyroscope to accurately and consistently determine the actual angle.