How to Calibrate MPU6050 sensor using MATLAB?

I need to know is there any command to calibrate my MPU6050 sensor? Because from one video on youtube the person used "readCalibrationstatus()" this command for his 9-axis BNO055 sensor. Also I want to know how to apply complimentary filter on the angular velocity matrix in below code:

Code:

clc
     clear all
     %Setting up Arduino and making object
     ard = arduino
     %Setting up IMU Sensor and making object
     my_sens = mpu6050(ard)
     %Capturing IMU Data
     imu_read = read(my_sens)      %Collecting data from IMU Sensor
     imu_matrix = imu_read{:,:}    %Converting data into matrix form
     imu_mean = mean(imu_matrix)   %Computes mean of 10 sample values for each column
     %Tabulating mean data for one instance (@10 smaples)
     imu_table = array2table(imu_mean, 'VariableNames', {'Acc_x','Acc_y','Acc_z','Gyro_x','Gyro_y','Gyro_z'})
     %Printing Accelration Values
     acc_x = imu_mean(:,1);
     acc_y = imu_mean(:,2);
     acc_z = imu_mean(:,3);
     %Creating Accelration Matrix
     accelration_matrix = [acc_x, acc_y, acc_z]
     %Printing Angular Velocity Values
     angvel_x_rad = imu_mean(:,4);
     angvel_y_rad = imu_mean(:,5);
     angvel_z_rad = imu_mean(:,6);
     %Creating Angular Velocity Matrix
     angvel_matrix = [angvel_x_rad, angvel_y_rad, angvel_z_rad]

Now i am stuck after this.Its just I collected raw data from the sensor and put them in matrix. Also I need calibration for my sensor. Please help.

[Walter Roberson]

Calibration for the BN appears to be by using hardware registers that invoke device hardware whose details are not documented. Unfortunately it is not a matter of just changing device addresses to select similar hardware; the calibration for the BN is built in to the hardware.

[Haris Bin Yousaf]

Thank u Sir Walter Roberson for the response, yeah i also observed this and I think my device doesnot support auto-callibration function for MATLAB. I think I have to do calculations manually and then fuse the data together.

[Noor Amira Ilyanie]

Haris, if you dont mind can you share how you calculate it?

Answer 1

[Gayatri Menon]

Hi,

The below link contains an example of using Complementary filter with MPU-9250 sensor

Estimate Orientation with a Complementary Filter and IMU Data

Hope this helps.

Thanks

Gayatri

[Haris Bin Yousaf]

Thank u ma'am, I got this!