RAHRS: Data Fusion Filters for Attitude Heading Reference System (AHRS) with Several Variants of the Kalman Filter and the Mahoney and Madgwick Filters
Version 1.0.2

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.

AuthorJose Gama [aut, cre, trl], Vlad Maximov [aut], Sebastian O.H. Madgwick [aut], Alain Barraud [ctb]
Date of publication2015-07-18 17:36:39
MaintainerJose Gama <rxprtgama@gmail.com>
LicenseGPL (>= 3)
Version1.0.2
Package repositoryView on CRAN
InstallationInstall the latest version of this package by entering the following in R:
install.packages("RAHRS")

Popular man pages

ahrs.EKF.QUATERNION: EKF-based AHRS algorithm
MadgwickAHRS: Madgwick's AHRS algorithm
MadgwickAHRSupdateIMU: Madgwick's IMU update method
MadgwickData: Test data for Sebastian Madgwick's IMU and AHRS sensor fusion...
MahonyAHRSupdateIMU: Mahony's IMU update method
MahonykAHRS: Mahony's AHRS algorithm
MahonykIMU: Mahony's IMU algorithm
See all...

All man pages Function index File listing

Man pages

accl.coefs: accelerometer coefficients
ahrs.EKF.QUATERNION: EKF-based AHRS algorithm
ahrs.LKF.EULER: Euler angles estimation with vector matching and Kalman...
ahrs.LKF.QUATERNION: LKF-based AHRS algorithm
ahrs.LKF.VMATCH: Quaternion estimation with vector matching and Kalman filter
ahrs.UKF.QUATERNION: Estimate the current quaternion attitude by UKF-based AHRS...
anglesGyroLib: Test recording and calibration recording data
ekf.calibration.indirect: Calibration coefs by complementary EKF
MadgwickAHRS: Madgwick's AHRS algorithm
MadgwickAHRSupdate: Madgwick's AHRS update method
MadgwickAHRSupdateIMU: Madgwick's IMU update method
MadgwickData: Test data for Sebastian Madgwick's IMU and AHRS sensor fusion...
MadgwickIMU: Madgwick's IMU algorithm
magn.coefs: magnetometer coefficients
MahonyAHRSupdate: Mahony's AHRS update method
MahonyAHRSupdateIMU: Mahony's IMU update method
MahonykAHRS: Mahony's AHRS algorithm
MahonykIMU: Mahony's IMU algorithm
RAHRS-internal: Internal RAHRS functions
svd.calibration: calibration coefs by Merayo's technique

Functions

DfDx Man page Source code
DhDx Man page Source code
KF.cholesky.update Man page Source code
MadgwickAHRS Man page Source code
MadgwickAHRSupdate Man page Source code
MadgwickAHRSupdate2 Man page Source code
MadgwickAHRSupdateDbl Man page Source code
MadgwickAHRSupdateIMU Man page Source code
MadgwickAHRSupdateIMU2 Man page Source code
MadgwickAHRSupdateIMUDbl Man page Source code
MadgwickData Man page
MadgwickIMU Man page Source code
MahonyAHRSupdate Man page Source code
MahonyAHRSupdate2 Man page Source code
MahonyAHRSupdateDbl Man page Source code
MahonyAHRSupdateIMU Man page Source code
MahonyAHRSupdateIMU2 Man page Source code
MahonyAHRSupdateIMUDbl Man page Source code
MahonykAHRS Man page Source code
MahonykIMU Man page Source code
Usolve Man page
Usolve.svdCalib Man page Source code
Utsolve Man page
Utsolve.svdCalib Man page Source code
accl.coefs Man page
ahrs.EKF.QUATERNION Man page Source code
ahrs.LKF.EULER Man page Source code
ahrs.LKF.QUATERNION Man page Source code
ahrs.LKF.VMATCH Man page Source code
ahrs.UKF.QUATERNION Man page Source code
anglesGyroLib Man page
calibrationGyroLib Man page
ekf.calibration.indirect Man page Source code
fchol Man page
fchol.svdCalib Man page Source code
magn.coefs Man page
measureEKF Man page Source code
measureUKF Man page Source code
onLoad Source code
sigmas Man page Source code
svd.calibration Man page Source code
systemEKF Man page Source code
systemUKF Man page Source code
updateUKF Man page Source code
ut.meas Man page Source code
ut.system Man page Source code

Files

src
src/R-AHRS-IMU.c
NAMESPACE
demo
demo/model.ahrs.LKF.QUATERNION.R
demo/model.ahrs.LKF.EULER.R
demo/model.ahrs.LKF.VMATCH.R
demo/SVDcalibration.R
demo/MadgwickExample.R
demo/00Index
demo/ekf.calibration.indirect.R
demo/model.ahrs.UKF.QUATERNION.R
demo/model.ahrs.EKF.QUATERNION.R
data
data/accl.coefs.RData
data/MadgwickData.rda
data/anglesGyroLib.RData
data/magn.coefs.RData
data/calibrationGyroLib.RData
R
R/zzz.r
R/RAHRS.R
MD5
DESCRIPTION
man
man/anglesGyroLib.Rd
man/magn.coefs.Rd
man/RAHRS-internal.Rd
man/MahonyAHRSupdateIMU.Rd
man/ahrs.LKF.VMATCH.Rd
man/MadgwickAHRSupdateIMU.Rd
man/MadgwickData.Rd
man/MadgwickIMU.Rd
man/MahonykIMU.Rd
man/svd.calibration.Rd
man/ahrs.EKF.QUATERNION.Rd
man/MadgwickAHRS.Rd
man/ahrs.LKF.EULER.Rd
man/MahonyAHRSupdate.Rd
man/accl.coefs.Rd
man/ahrs.UKF.QUATERNION.Rd
man/ekf.calibration.indirect.Rd
man/ahrs.LKF.QUATERNION.Rd
man/MahonykAHRS.Rd
man/MadgwickAHRSupdate.Rd
RAHRS documentation built on May 19, 2017, 1:46 p.m.

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