Sensor Fusion Devs for Angle Estimation on Inertial Measurement Unit.

We explore the application of a Sensor Fusion Framework, called SAFE (Simple, Applicable, Extensible, and Flexible) to improve the reliability of measurements obtained from Inertial Measurement Unit (IMU) sensors. SAFE is built using a DEVS specification and the Cadmium tool. Measuring angular position is a difficult task due to the unreliability of gyroscopes and accelerometers, two sensors widely used to measure angles. Although angular position can be measured using imaging systems, these are costly, and not ideal for handheld and portable devices. An alternative solution is to use sensor fusion to fuse the readings of both accelerometer and gyroscope, obtaining reliable readings. We show the application of the SAFE methodology and the results of our case study showing the potential of this method.