Comparison of output data from inertial sensors in smartphones

This paper compares the quality of inertial sensors implemented in various smartphones in terms of their orientation. Accelerometer and gyroscope of different smartphones have been used for testing. Measured sensors data served to estimate orientation of smartphone in three dimensional space. For this purpose we need to know the smartphone orientation in all three axes. Both sensors have negative properties, but data fusion of the sensors can eliminate the negative impacts. Data fusion has been done by complementary filter. Accelerometer measures all forces acting on it and causes seemingly noisy output data, on the other hand accelerometer has stable output data in term of levels. Bias is important parameter of gyroscope and it is defined as a difference between output data and the mean value of gyroscope at the time when gyroscope is static.