Tilt Measurement

Intertial Measurement Unit and the complementary filter....

Testing the IMU with voltmeter

To estimate the correct angle of the platform, we needed the complementary filter. A DKU-5 (USB to UART-TTL) cable was used to transmit the raw accelerometer and gyro values to MATLAB. Voila ! Angle estimation turned out surprisingly well (with a lot of programming feats of course).

Here's the real time MATLAB plot result

White = accelerometer, blue = gyro, green = filtered angle