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IMU Roll Angle: Correct when Stopped, Wrong when Moving
I have been using an MPU6050 (3 axis gyro, 3 axis accel, built in motion filter called DMP) with an Arduino on a car axle to measure axle angle when driving. On a long banked corner (2 degrees) the sensor reads 0 degrees while moving (~40km/hr), but when stopped it reads correctly (2 degrees). The physical axle angle is the same though in both scenarios.
I believe the lateral force from going through the corner is affecting the sensors interpretation of which way gravity is, and is adjusting the roll angles accordingly. See image;
Can anyone comment on how this might be solved?
-Using a sensor with a magnetometer?
-Using a sensor with a different filter?
-Is this solveable at all or just an inherent factor of MEMS sensors?
Thanks in advance for your input.