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Temperature in degrees C = ((temperature sensor data)/340 + 36.53) °/c. Temperature value in °/c (degree per Celsius) Angular velocity along the Z axis = (Gyroscope Z axis raw data/131) °/s.Angular velocity along the Y axis = (Gyroscope Y axis raw data/131) °/s.Angular velocity along the X axis = (Gyroscope X axis raw data/131) °/s.
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Gyroscope values in °/s (degree per second) Acceleration along the Z axis = (Accelerometer Z axis raw data/16384) g.Acceleration along the Y axis = (Accelerometer Y axis raw data/16384) g.Acceleration along the X axis = (Accelerometer X axis raw data/16384) g.After getting sensor raw data we can calculate acceleration and angular velocity by dividing sensor raw data with their sensitivity scale factor as follows. To get sensor raw data, we need to first perform 2’s complement on sensor data of Accelerometer and gyroscope.
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Temperature sensor data of MPU6050 module consists of 16-bit data (not in 2’s complement form). Gyroscope and Accelerometer sensor data of MPU6050 module consists of 16-bit raw data in 2’s complement form. When the sensor is rotated along any axis a vibration is produced due to Coriolis effect which is detected by the MEMS.16-bit ADC is used to digitize voltage to sample each axis.+/- 250, +/- 500, +/- 1000, +/- 2000 are the full scale range of output.Angular velocity is measured along each axis in degree per second unit. So, if we fuse, or combine the accelerometer and gyroscope data we can get very accurate information about the sensor orientation.ģ-axis Gyroscope The MPU-6050 consist of a 3 axis gyroscope which can detect rotational velocity along the x,y,z axis with micro electro mechanical system technology (MEMS). On the other hand, the MPU6050 accelerometer measures acceleration by measuring gravitational acceleration along the 3 axes and using some trigonometry math we can calculate the angle at which the sensor is positioned. The outputs of the gyroscope are in degrees per second, so in order to get the angular position we just need to integrate the angular velocity. The gyroscope measures rotational velocity or rate of change of the angular position over time, along the X, Y and Z axis. The MPU6050 IMU has both 3-Axis accelerometer and 3-Axis gyroscope integrated on a single chip.
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