ahrs.EKF.QUATERNION

 data structure for Extended Kalman Filter 

Filter

 calibrated gyroscope, accelerometer and magnetometer 
  	  measurements
    Sensors.w    current calibrated gyroscope measurement [3x1], rad/sec
    Sensors.a    current calibrated accelerometer measurement [3x1], g
    Sensors.m    current calibrated magnetometer measurement [3x1], |m| = 1
  

Sensors

 AHRS Parameters
    Parameters.mn      Magnetic Field Vector In Navigation Frame [3x1], |m|= 1
    Parameters.an      Acceleration vector In Navigation Frame [3x1], g
    Parameters.dt      Sampling period, 1/Hz
  

Parameters


Implementation of the EKF-based AHRS algorithm based on measurements from 
three-component accelerometer with orthogonal axes, vector magnetometer and 
three-axis gyroscope. Estimates the current quaternion attitude.


 ~Programming 

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.

ahrs.EKF.QUATERNION: EKF-based AHRS algorithm

Description

Usage

Arguments

Value

References