# How to get reliable yaw angle from mpu 6050

The MPU-6050 is a popular accelerometer and gyroscope sensor that is commonly used in robotics and drone projects. One of the key measurements that can be obtained from this sensor is the yaw angle, which can be used to determine the orientation of the sensor in space. However, obtaining a reliable yaw angle can be challenging due to a number of factors, such as sensor noise and drift. In this article, we’ll discuss some techniques that can be used to obtain a reliable yaw angle from the MPU-6050.

## Calibrate the Sensor

Before obtaining any measurements from the MPU-6050, it’s important to calibrate the sensor. This involves removing any bias and noise that may be present in the sensor data. One common calibration technique involves collecting data from the sensor in multiple orientations and using this data to calculate correction factors. These correction factors can then be applied to the raw sensor data to obtain more accurate measurements.

Implement a Complementary Filter

Another technique that can be used to obtain a reliable yaw angle is to implement a complementary filter. A complementary filter combines the outputs of the accelerometer and gyroscope sensors to obtain a more accurate measurement of orientation. The accelerometer provides a measurement of the gravity vector, which can be used to determine the pitch and roll angles. The gyroscope provides a measurement of the rate of change of the yaw angle. By combining these two measurements, a more accurate estimate of the yaw angle can be obtained.

## Use a Kalman Filter

A Kalman filter is a mathematical technique that can be used to estimate the state of a system based on noisy sensor measurements. It is a popular technique for estimating the orientation of a sensor in space. A Kalman filter takes into account the dynamics of the system, as well as the noise and uncertainty in the sensor measurements. By fusing the accelerometer and gyroscope measurements with a Kalman filter, a more accurate estimate of the yaw angle can be obtained.

## Use a Magnetometer

Another sensor that can be used to obtain a reliable yaw angle is a magnetometer. A magnetometer measures the strength and direction of the Earth’s magnetic field, which can be used to determine the yaw angle. However, magnetometers can be sensitive to electromagnetic interference, which can result in noisy measurements. To obtain reliable measurements from a magnetometer, it’s important to shield the sensor from external electromagnetic fields and calibrate the sensor to remove any biases.

### Conclusion

Obtaining a reliable yaw angle from the MPU-6050 can be challenging due to sensor noise and drift. However, by calibrating the sensor, implementing a complementary filter or a Kalman filter, or using a magnetometer, it is possible to obtain accurate and reliable measurements of the yaw angle. By using these techniques, you can ensure that your robotics or drone projects have accurate orientation data, which can be critical for navigation and control.