Real Time MPU6050 Inertial Sensing and 3D Motion Visualization Using Arduino Mega and Python

A real-time inertial sensing and visualization system based on the MPU6050 IMU, Arduino Mega, Python, and OpenGL.

This project implements a complete real-time sensing pipeline:

MPU6050 → Arduino Mega → Serial Communication → Python → SO(3) Attitude Estimation → 3D Visualization

The system acquires 6-axis inertial measurements at 500 Hz, performs sensor calibration and attitude estimation, and visualizes the estimated motion in real time.

• 6-axis accelerometer and gyroscope acquisition
• 500 Hz MPU6050 sampling
• 250-sample initial calibration
• Gyroscope bias compensation
• SO(3)-based attitude propagation
• Gravity-based roll/pitch correction
• Acceleration deadband and drift mitigation
• Real-time OpenGL visualization

• Arduino Mega 2560
• MPU6050 IMU

• Arduino C/C++
• Python
• NumPy
• PySerial
• PyQt6
• PyOpenGL

1. Upload MPU6050.ino to the Arduino Mega.
2. Connect the MPU6050 through I2C.
3. Install the required Python packages.
4. Run:

python imu_visualization.py

A detailed project report is included in this repository.