Aqeel TariqMuhammad Waseem AsifMohsin Javed2025-12-252025-12-252012https://escholar.umt.edu.pk/handle/123456789/17994The project serves the study of Kalman filter and its implementation on microcontroller. We have successfully developed its application by implementing it on microcontroller and developed a stable system by using MEMS-based accelerometer and gyroscope. Kalman filter is implemented for error compensation in the sensor values. This project has vast applications ranging from robotics to complete self-balancing and is a very important step forward towards the industry having motion-sensing-based applications. This is the era of automation; hence, autopilots, drones, and quadcopters are heavily using IMU to stabilize their system.enThesis