Is there any method to use a 6axes IMU (like MPU6050) to obtain the sway angles of payload?

  • Hello guys. Has anyone ever researched the method to use only one 6-axes IMU to obtain the sway angles of the suspended payload to a quadcopter? As shown in the figure, the angle "α" is rotated about world-coordinate x-axis, and the β is then rotated about the new y-axis. The payload can rotate about the rope simultaneously. Many thanks.

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