My team and I are building an AUV and are planning to replace the existing 6DOF MPU-6050 sensor with a 9DOF Adafruit BNO055 sensor. However, we're unable to figure out how to combine the data from the 9DOF sensor into a single meaningful output that can be used to correct the orientation of the bot.

I implemented a complementary filter for the 6DOF sensor, combining the gyro and accelerometer data (Ratio of 0.1:99.9), which worked out really well. However, I'm not quite sure whether simply implementing a complementary filter for the 3 sensors of the 9DOF IMU would give optimal results.

Can someone suggest how I can go about doing this?

PS: I've read about quaternions and how I can use them for orientation, but I'd prefer sticking to Euler angles as I understand them better.

  • $\begingroup$ You can find existing KF implementation on 9DOF if you don’t know how to do it yourself, then you can start from there. $\endgroup$ – drerD Feb 21 at 5:36

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