MEMS Gyroscope Based on MPU-6050 Sensor and ATmega328 Microcontroller

This paper provides a reliable practical implementation of the MEMS gyroscope on the base of MPU-6050 universal triaxial inertial measuring unit with a gyroscope sensor and accelerometer and the microcontroller ATmega328. Presented interconnection of functional modules on the base of I2C protocol has allowed to improve the calibration process and make a zero offset for all orthogonal sensors in gyroscope that in return reduce the additive measurement error. Analysis of electromechanical properties of universal gyroscope has shown different properties of vibrating systems. Sensitive elements signal processing common with developed error model, that includes nonlinearity of sensors characteristics, has allowed to reduce the total measurement error of MEMS gyroscope up to 1%.