How is accelerometer and gyroscope noise calculated from datasheet of MPU9250 in the below example?

So I found this very useful link to implement MPU9250 with arduino:

https://www.mathworks.com/help/supportpkg/arduinoio/examples/estimate-orientation-inertial-sensor-fusion-and-mpu-9250.html

However, I have doubts regarding how the accelerometer and gyroscope noise calculated from the datasheet (as mentioned in the link).

If anyone knows how these values are calculated, kindly explain.

Answer 1

[Pujitha Narra]

Hi Rakhi,

The accelerometer and gyroscope values given in the datasheet for MPU-9250 are rms values. The GyroscopeNoiseMPU9250 and AccelerometerNoiseMPU9250 are calculated as follows:

RMS Noise of Gyroscope= 0.1⁰/s-rms

=0.00174533 rad/s-rms

Deviation of Noise= =3.0462e-06 rad/s= GyroscopeNoiseMPU9250

Similarly,

RMS noise of Accelerometer = 8 mg-rms

=8e-3*9.8 meter/-rms

= 0.0784 meter/-rms

Deviation of Noise = = 0.0061 meter/= AccelerometerNoiseMPU9250

[Aseel Mgig]

Hi Pujitha Narra

I want ask is there any code for calibrating mpu9250 raw data to get the euler angles ? I use a simulink model i need to use a code in MATLAB function block Is there any suggestions

Thanks

[Daniel Schwartz]

Wouldn't squaring the RMS noise give you the variance rather than the deviation?

[saikat mondal]

can you tell for magnetometer as well.

Answer 2

[fatima zohra soussi]

can you give me this model please because i also want to simulate gyroscope/Accelerometer in simulink , the link is not work thank you

[Diarmaid Cualain]

I assume that they are referencing here: https://uk.mathworks.com/help/supportpkg/arduinoio/ug/estimating-orientation-using-inertial-sensor-fusion-and-mpu9250.html