RAHRS (version 1.0.2)

MahonykAHRS: Mahony's AHRS algorithm

Description

Implementation of Mahony's AHRS algorithm.

Usage

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

Arguments

MSamplePeriod

Sample Period.

Kp

Constant Kp.

Ki

Constant Ki.

q

Quaternion.

Gyroscope

Gyroscope measurement.

Accelerometer

Accelerometer measurement.

Magnetometer

Magnetometer 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.