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RAHRS (version 1.0.2)

Data Fusion Filters for Attitude Heading Reference System (AHRS) with Several Variants of the Kalman Filter and the Mahoney and Madgwick Filters

Description

Data fusion filters for Attitude Heading Reference System (AHRS) based on Vlad Maximov's GyroLib AHRS library (quaternion based linearized/extended/unscented Kalman filter, Euler based LKF, gyro-free with vector matching, SVD calibration and EKF calibration), Sebastian O.H. Madgwick AHRS algorithms and Sebastian O.H. Madgwick implementation of Mayhony et al AHRS algorithm.

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Version

Install

install.packages('RAHRS')

Monthly Downloads

40

Version

1.0.2

License

GPL (>= 3)

Maintainer

Jose Gama

Last Published

July 18th, 2015

Functions in RAHRS (1.0.2)

svd.calibration

calibration coefs by Merayo's technique
ahrs.LKF.VMATCH

Quaternion estimation with vector matching and Kalman filter
anglesGyroLib

Test recording and calibration recording data
measureEKF

Internal RAHRS functions
ekf.calibration.indirect

Calibration coefs by complementary EKF
magn.coefs

magnetometer coefficients
MadgwickData

Test data for Sebastian Madgwick's IMU and AHRS sensor fusion algorithms
accl.coefs

accelerometer coefficients
MahonykIMU

Mahony's IMU algorithm
MadgwickAHRS

Madgwick's AHRS algorithm
MadgwickIMU

Madgwick's IMU algorithm
MahonyAHRSupdate

Mahony's AHRS update method
MadgwickAHRSupdateIMU

Madgwick's IMU update method
ahrs.EKF.QUATERNION

EKF-based AHRS algorithm
MadgwickAHRSupdate

Madgwick's AHRS update method
ahrs.LKF.QUATERNION

LKF-based AHRS algorithm
ahrs.UKF.QUATERNION

Estimate the current quaternion attitude by UKF-based AHRS algorithm
ahrs.LKF.EULER

Euler angles estimation with vector matching and Kalman filter
MahonyAHRSupdateIMU

Mahony's IMU update method
MahonykAHRS

Mahony's AHRS algorithm