Gesture detection and data fusion based on MPU9250 sensor

A gesture detection system designed with MPU9250 sensor and MSP430F149 processor was introduced in this paper. The attitude angle can be measured with internal gyroscope sensor, accelerometer and electronic compass of MPU9250, and data fusion analysis was realized by using the optimization Kalman filter algorithm. The attitude angle noise was suppressed and the accuracy of the gesture detection was improved. The system can perform 100-time detections per second with fast response characteristics. The system was used in self-balanced robot successfully for motion gesture detection.