Tilt and Heading Measurement Using Sensor Fusion From Inertial Measurement Unit

Inertial measurement units (IMUs) typically contain three orthogonal rate-gyroscopes and three orthogonal accelerometers, measuring angular velocity and linear acceleration respectively. In this research, we try to make sensor fusion from IMU sensors to measure tilt and heading value. We use IMU that has 3 sensors with 3-axis each, accelerometer, gyroscope plus magnetometer. The design puts gyroscope as primary source of orientation information. Then magnetometer is used to detect yaw error and accelerometer is used to detect pitch and roll for drift correction. So that, with the accelerometer and magnetometer help for error correcting, this sensor fusion algorithm offers more stable output for tilt and heading measurement.