RAHRS (version 1.0.2)

MadgwickAHRSupdate: Madgwick's AHRS update method

Description

Madgwick's algorithm for AHRS update method.

Usage

MadgwickAHRSupdate(gxi, gyi, gzi, axi, ayi, azi, mxi, myi, mzi, sampleFreqi, 
betai, q0i, q1i, q2i, gz)

Arguments

gxi

Gyroscope x axis measurement in radians/s.

gyi

Gyroscope y axis measurement in radians/s.

gzi

Gyroscope z axis measurement in radians/s.

axi

Accelerometer x axis measurement in any calibrated units.

ayi

Accelerometer y axis measurement in any calibrated units.

azi

Accelerometer z axis measurement in any calibrated units.

mxi

Magnetometer x axis measurement in any calibrated units.

myi

Magnetometer y axis measurement in any calibrated units.

mzi

Magnetometer z axis measurement in any calibrated units.

sampleFreqi

Sample frequency.

betai

Algorithm gain beta.

q0i

Quaternion[0]

q1i

Quaternion[1]

q2i

Quaternion[2]

gz

Quaternion[3]

Value

output 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.