RAHRS (version 1.0.2)

MahonykIMU: Mahony's IMU algorithm

Description

Implementation of IMU's AHRS algorithm.

Usage

MahonykIMU(MSamplePeriod, Kp = 2, Ki = 0.005, q, Gyroscope, Accelerometer)

Arguments

MSamplePeriod

Sample Period.

Kp

Constant Kp.

Ki

Constant Ki.

q

Quaternion.

Gyroscope

Gyroscope measurement.

Accelerometer

Accelerometer measurement.

Value

Quaternion describing the Earth relative to the sensor.

References

S. O. H. Madgwick, An efficient orientation filter for inertial and inertial/magnetic sensor arrays, Technical report, University of. Bristol University, UK, 2010.

R. Mahony, T. Hamel, and J.-M. Pflimlin. Nonlinear complementary filters on the special orthogonal group. Automatic Control, IEEE Transactions on, 53(5):1203 –1218, june 2008.