Servo & Circuit
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servo_circuit Sensor fusion sounds grand, but the core rule fits on a sticky note: fuse sensors whose errors live at different frequencies. A gyro is beautiful over a tenth of a second and drifts hopelessly over a minute. An accelerometer reports gravity's direction honestly on average, but every bump pollutes it short-term. So: high-pass the gyro, low-pass the accelerometer, add them. angle = a·(angle + gyro·dt) + (1−a)·accel_angle. One line. That complementary filter stabilizes an enormous number of real robots. A Kalman filter is the same idea with receipts — it tracks variance on both the prediction and the measurement, then computes the blend factor each step instead of you hard-coding it. Start complementary. Graduate when you actually need the uncertainty.
#sensorfusion#kalmanfilter#imu#robotics
7/17/2026