RAHRS (version 1.0.2)

MahonyAHRSupdate: Mahony's AHRS update method

Description

Mahony's algorithm for AHRS update method.

Usage

MahonyAHRSupdate(gxi, gyi, gzi, axi, ayi, azi, mxi, myi, mzi, sampleFreqi, 
twoKpi, twoKii, integralFBxi, integralFByi, integralFBzi, q0i, q1i, q2i, halfex)

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.

twoKpi

Kp constant passed as a parameter

twoKii

Ki constant passed as a parameter

integralFBxi

Integral FB[0]

integralFByi

Integral FB[1]

integralFBzi

Integral FB[2]

q0i

Quaternion[0]

q1i

Quaternion[1]

q2i

Quaternion[2]

halfex

Half

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.

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.