Figure 3. Sample Data Close-up View: Our implementation of Kalman Filter with the MPU-9250’s raw data produced the best result overall. The BNO055 exhibited noticeably larger lag and offset. The BNO055 Fusion exhibited noticeable non-smooth fluctuations, most notably in the middle row (roughly 4-Hz sinusoidal motion)

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