Figure 2. Sample Data Overview: Manually imposed motion included slow sweeping of about ±20°, sinusoidal-like swaying motion at 2‒4 Hz, and step-like movements. Note significant drift in the straight time integration (Cumtrapz) of the measured angular velocities

From

Angular Position Estimation of an Inverted Pendulum Using Low-Cost IMUs

Daisuke Aoyagi, Sukgi Choi

American Journal of Sensor Technology. 2018, 5(1), 1-6 doi:10.12691/ajst-5-1-1