Figure 4. Raw sensor data corresponding to the onset of roughly 4-Hz sinusoidal-like motion (middle row of Figure 3, t=82.4‒83.4). The BNO055 exhibited a larger time lag than the MPU-9250 did. Note MPU-9250’s acceleration signal saturated at ±2g, which was the default full scale

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