I am using a MPU9250 which has a gyroscope, accelerometer and magnetometer. I have independently calibrated the accelerometers and magnetometer(ellipsoid method). But I am not able to calibrate the gyroscope.
I tried to calculate the gyro offset errror by collecting nearly 1000 samples. but when I subtract the offset, the gyro error is still not zero and angle found by integration keeps drifting. If I rotate the board by 180 the integral of the gyro gives me only 175degree. how do i correct this error if i am unable to correct the offset error first? I also found that the offset error varies with every power reset. Is this normal?
My question is how to compute the calibration parameters of the gyroscope. Is it possible to get correct angle measurements using only the gyroscope(without sensor fusion)?
Of all sensor fusion techniques which is the most accurate(ekf, ukf, madgwick, mahony). Is it possible to run the kalman algorithms on an arduino or do i need to do it on the desktop. I need 50Hz throughput for angle measurements.