Skip to content

Latest commit

 

History

History
28 lines (23 loc) · 1.57 KB

README.md

File metadata and controls

28 lines (23 loc) · 1.57 KB
Raw

IMU_Attitude_Estimator

This project is aimed at estimating the attitude of Attitude Heading and Reference System(AHRS). And the project contains three popular attitude estimator algorithms.

  • Mahony's algorithm
  • Extend Kalman Filter(EKF)
  • Error State Kalman Filter(ESKF)

DataSets.py for converting estimator data.
Allan_Analysis for Allan Variance analysis.

Refrence

[1] Mahony R, Hamel T, Pflimlin J M. Nonlinear complementary filters on the special orthogonal group[J]. IEEE Transactions on automatic control, 2008, 53(5): 1203-1218.
[2] Pixhawk state estimation
[3] Solà, Joan. Quaternion kinematics for the error-state Kalman filter[J]. 2017.
[4] Trawny N, Roumeliotis S I. Indirect Kalman Filter for 3D Attitude Estimation[J]. 2005.

Dependencies

  • Eigen3.2.0
  • glog
sudo apt-get install libgoogle-glog-dev

Simple Test

Simple comparision among three methods. And the params of Mahony filter can be further tuned.