How to measure the gyro angle directly in LEGO EV3 Mindstorms?

The LEGO mindstorms ev3 comes with a support package provided by mathworks, but we can only measure the gyro rate not the angle. So, if i find the gyro angle by simple integration there is some offset added to it. Actually the gyro rate is having a resoultion(minimum output) of 1 deg/sec, So becoz of noise it goes 0 - 1 - 0 - 1 - 0..... so the cumulative angle goes on increasing, please reply... if u have any solution...

Answer 1

[Yunes Almansoob]

Observing the results it can be seen that there exists an offset (the bias) on all of the three axes, but mostly on y (positive) and z axis (negative). To calculate angle α, the output of the gyroscope ω (angular speed), is integrated over time t [25]: !

(3-3) The graph below shows the results without compensating for the bias error introduced by the offset: during 20 seconds we get an angle of 0.12 and -0.15 radians around the y and z axis respectively. For example, the error on the y axis is: 0.12/20 = 0.006 radians/s, or 0.35 degrees/s