Microelectromechnical system MEMS gyroscopes and accelerometers are using to measure the angular velocity of rotation and linear acceleration of an object, respectively. In many applications, the measurement of the angle is required, but gyroscopes have a mixing error that occurs when integrating the angular output velocity and the accelerometers have an error due to the translation force. This article presents a method for designing a complementary filter for estimating an angle using accelerometer and gyroscope and discusses the behavior of complementary filter in Matlab. As a results, the development of complementary filter system used to estimate the angle, can be used to consistenty and accurately improve the determination of the angle.

Keywords: accelerometer, gyroscope, complementary filter, MEMS microelectromechanical system