compUpdate

<code>compUpdate()</code> uses complementary filtering to update the orientation, given
an initial orientation, readings of a 3-axis accelerometer and a 3-axis
gyroscope. time duration, and a gain factor

Estimate the orientation of an inertial measurement unit
(IMU) with a 3-axis accelerometer and a 3-axis gyroscope using a
complementary filter. 'imuf' takes an IMU's accelerometer and gyroscope
readings, time duration, its initial orientation, and a gain factor as
inputs, and returns an estimate of the IMU's final orientation.

Felix Chan

imuf

Estimate Orientation of an Inertial Measurement Unit

Ricardo Cabello

compUpdate function

<dl><dt>acc</dt>
<dd>A numeric 3-vector of 3-axis accelerometer readings in g</dd>
<dt>gyr</dt>
<dd>A numeric 3-vector of 3-axis gyroscope readings in rad/sec</dd>
<dt>dt</dt>
<dd>A numeric of time duration in sec</dd>
<dt>initQuat</dt>
<dd>A numeric 4-vector of the starting orientation in quaternion</dd>
<dt>gain</dt>
<dd>A numeric gain factor between 0 and 1</dd></dl>

Arguments

Update orientation with 3-axis acc and gyr data — compUpdate

<dl>

<dt>acc</dt>
<dd>A numeric 3-vector of 3-axis accelerometer readings in g</dd>


<dt>gyr</dt>
<dd>A numeric 3-vector of 3-axis gyroscope readings in rad/sec</dd>


<dt>dt</dt>
<dd>A numeric of time duration in sec</dd>


<dt>initQuat</dt>
<dd>A numeric 4-vector of the starting orientation in quaternion</dd>


<dt>gain</dt>
<dd>A numeric gain factor between 0 and 1</dd>

</dl>

compUpdate: Update orientation with 3-axis acc and gyr data

Description

Usage

Value

Arguments

Examples