Combine Gyroscope and Accelerometer Data
I am building a balancing robot using the Lego Mindstorm's NXT system. I am using two sensors from HiTechnic, the first being an Accelerometer and the second being a Gyroscope. I've successfully filtered out noise from both sensors and derived angles for both in a range between -90 and 90 degrees, with 0 degrees being perfectly balanced. My next challenge is to combine both of the sensor values to correct for the Gyroscope's drift over time. Below is an example graph I created from actual data to demonstrate the drift from the gyroscope: The most commonly used approach I've seen to make