This article addresses the issue of noise and drift in microelectromechanical gyroscopes and their impact on measurement accuracy in engineering applications. The use of a complementary filter is proposed to combine information from the accelerometer and gyroscope to reduce inaccuracies. Research shows that the accelerometer has better result repeatability, which is important for obtaining stable measurements. At the same time, the gyroscope may be more effective in measuring translational movements. The selection of sensor sensitivities and proper parameter tuning are crucial aspects. A developed system is capable of effectively filtering and measuring the angle of an object, and the use of a complementary filter improves measurement accuracy. The proposed approach can be successfully utilized for accurately detecting the angle of position of a measurement setup in defect inspection of underground pipelines.
[1] Zhang, Z.Y.; Fan, D.P.; Li, K.; Zhang, W.B. Study on the filtering method of micro-electromechanical gyro zero drift data. J. Chin. Inert. Technol. 2006, 4, 67–69.
[2] Park, S.; Gil, M.S.; Im, H.; Moon, Y.S. Measurement Noise Recommendation for Efficient Kalman Filtering over a Large Amount of Sensor Data. Sensors 2019, 19, 1168. https://doi.org/10.3390/s19051168
[3] Li, L.M.; Zhao, L.Y.; Tang, X.H.; He, W.; Li, F.R. Gyro Error Compensation Algorithm Based on Improved Kalman Filter. J. Transduct. Technol. 2018, 31, 538–544, 550.
[4] Zhou, X.Y. Research on Target Positioning Error Analysis and Correction of Photoelectric Detection System. Ph.D. Thesis, National University of Defense Technology, Changsha, China, 2011.
[5] Li, Q.G.; Zhang, H.L.; Hao, J.R. Research on Gyroscope Drift Compensation Algorithm Based on Six Accelerometers. Sens. Microsyst. 2009, 28, 42–44.
[6] Yu Liu, Song Liu, Changwen Wang and Le Wang, “A New Northseeking Method Based on MEMS Gyroscope,” International Frequency Sensor Association J. Sensors & Transducers, vol. 178, September 2014, pp. 14-19.
[7] A. S. Samosir and N. S. Widodo, “Gyroscope and Accelerometer Sensor on the Lanange Jagad Dance Robot Balance System Sensor Gyroscope dan Accelerometer pada Sistem Keseimbangan Robot Seni Tari Lanange Jagad,” Bul. Ilm. Sarj. Tek. Elektro,vol. 2, no. 2, pp. 51–58, 2020, https://doi.org/10.12928/biste.v2i2.922
[8] H. Chao, C. Coopmans, D. Long, and Y.Q. Chen, “A Comparative Evaluation of Low-Cost IMUs for Unmanned Autonomous Systems,” IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, September 2010 , pp. 211-216. https://doi.org/10.1109/MFI.2010.5604460
[9] L. Lasmadi, “Attitude Estimation for Quadrotor Based on IMU with Kalman-Filter,” Conf. Senat. STT Adisutjipto Yogyakarta, vol. 4, no. 0, pp. 351–358, Nov. 2018, https://doi.org/10.28989/senatik.v4i0.267
[10] M. Riyadi et al., “Pendeteksi Posisi Menggunakan Sensor Accelerometer MMA7260Q,” Semarang, Tek. Elektro Univ. Diponegoro, vol. 12, no. 2, pp. 76–81, 2010, https://doi.org/10.1093/geront/gns022
[11] S. A. Quadri and O. Sidek, “Error and Noise Analysis in an IMU using Kalman Filter,” Int. J. Hybrid Inf. Technol., vol. 7, no. 3, pp. 39–48, 2014, https://doi.org/10.14257/ijhit.2014.7.3.06
[12] J.W. Chia, M.S.C. Tissera, K.S. Low, S.T. Goh and Y.T. Xing, “A low Complexity Kalman filter for Improving MEMS based Gyroscope Performance,” March 2016 https://doi.org/10.1109/AERO.2016.7500795
[13] G. Yanning, H. Fei, D. Shaohe, M. Guangfu and Z. Liangkuan “Performance Analysis of MEMS Gyro and Improvement using Kalman Filter,” IEEE 34th Chinese Control Conference, July 2015, pp. 1934- 1768. https://doi.org/10.1109/ChiCC.2015.7260380
[14] M.T. Leccadito, “An Attitude Heading Reference System using a Low Cost Inertial Measurement Unit,” M.S. thesis, Dept. Elect. and Computer Eng., Virginia Commonwealth University, Richmond, Virginia, August 2013.
[15] B. McCarron, “Low-Cost IMU Implementation via Sensor Fusion Algorithms in the Arduino Environment,” Bachelor of Science, Department of the Aerospace Engineering, Polytechnic State University, San Luis Obispo, California, June 2013.
[16] https://www.analog.com/media/en/technical-documentation/data-sheets/adxl...
[17] https://www.sparkfun.com/datasheets/Sensors/IMU/lpy503al.pdf