Low cost MEMS gyroscope and accelerometer implementation without Kalman Filter for angle estimation

Nur Hazliza Ariffin, Norhana Arsad, Badariah Bais

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

30 Citations (Scopus)


These days, the accuracy of the measured tilt angle is extremely important and it is always a challenge especially for robotics application. MEMS (micro-electro-mechanical system) gyroscope and accelerometer has been widely used to measure the tilt angle along the axis. However, various studies highlighted that MEMS gyroscope and accelerometer has weakness to gain accuracy of orientation. In order to cater the low accuracy, data from the MEMS gyroscope and accelerometer require a filter where the data from both sensors will be combined by using the complementary filter. Thus, digital complementary filter is developed in such a way that the strength of one sensor will be used to overcome the weaknesses of the other sensor which is complementary to each other. The filtering will be demonstrated using MEMS gyroscope and accelerometer in different position throughout the measurement for analysis and angle estimation via complementary filter. From the simulation result, it is evident that the complementary filter method is achieved with responsive and accurate angle of 0 to 90 degrees with same as actual position at factor value of 0.97. In addition, it is not sensitive to horizontal accelerations or to gyroscope drift with microcontroller-friendly filtering system.

Original languageEnglish
Title of host publication2016 International Conference on Advances in Electrical, Electronic and Systems Engineering, ICAEES 2016
EditorsRosdiadee Nordin, Mohd Fais Mansor, Mahamod Ismail
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)9781509028894
Publication statusPublished - 2017
Externally publishedYes
EventInternational Conference on Advances in Energy and Environmental Science (ICAEES) 2016 - Putrajaya, Malaysia
Duration: 14 Nov 201616 Nov 2016


ConferenceInternational Conference on Advances in Energy and Environmental Science (ICAEES) 2016
Abbreviated titleICAEES 2016

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