カルマンフィルタを用いた傾斜角推定アルゴリズムの設計と実装
Design and Implementation of a Kalman Filter-Infused Algorithm for Tilt Estimation
MPU6050センサとRP2040マイコンを用い、加速度計とジャイロスコープのデータをカルマンフィルタで統合し、ノイズとドリフトを抑えた高精度な傾斜角推定システムを実装・評価した論文。
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著者: Yuehan Ma, Hongji Dai
分類: cs.CV, cs.RO, eess.SP, eess.SY
原文アブストラクト
Accurate tilt angle estimation is important in many engineering applications, such as robotics, motion tracking, and embedded control systems. However, measurements from low-cost inertial sensors are often degraded by noise and drift. This paper presents a single-axis tilt angle estimation system based on the MPU6050 inertial measurement unit, implemented on an RP2040 microcontroller platform, with sensor fusion achieved through a Kalman filter. The accelerometer provides a direct estimate of tilt angle from gravity but is sensitive to noise and short-term fluctuations. The gyroscope provides smooth angular rate measurements, but integration over time introduces drift. To overcome these limitations, a Kalman filter is used to combine measurements from both sensors, leveraging the long-term stability of the accelerometer and the short-term smoothness of the gyroscope. Both simulation and hardware experiments are performed. In simulation, sensor noise and drift are modeled to evaluate the filter performance under control conditions. In the hardware implementation, real-time MPU6050 data is acquired and processed by the RP2040 platform, and the estimated tilt angle is compared with accelerometer-only and gyroscope-only outputs. The results show that the proposed method effectively reduces noise measurements and suppresses long-term drift while preserving good dynamic response. Overall, the system provides more stable and accurate tilt estimation than either sensor alone, demonstrating a practical and accessible approach for Kalman filter based sensor fusion in embedded application.