Angle between two MPU 6050's

Other Hardware Sensors
1

Hi,

I'm looking to obtain the angle between two Mpu 6050's. It is typically called "a hinge joint".

I already have the angle for each IMU (based on accelerometer and gyroscope data)
But I don't know exacty how to do it... Is Do you have any idea about the way that I will have to proceed ?
hinge

Thank you !

2

The angle between two vectors can be derived from their dot product.

3

Or cross product. The cross product is more accurate for very small angles, but less accurate near 90 degrees.

Or you can work from the raw quaternions and calculate the difference: http://www.boris-belousov.net/2016/12/01/quat-dist/

4

Hopefully you have an orientation or at least a 3D vector, not just an angle, a 2D angle is insufficient here.

5

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