Sub-degree rotation from commodity IMUs
Off-the-shelf low-cost IMUs cannot resolve fine rotation on their own — especially in a swinging, magnetically noisy environment where magnetometers are useless. We fused three 6-DOF IMUs with custom filters that dynamically cancel gyro drift, and held 0.5 to 60 deg/s within ~10% error on a board costing under $100 to make.
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