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

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.

Author
Jose Gama [aut, cre, trl], Vlad Maximov [aut], Sebastian O.H. Madgwick [aut], Alain Barraud [ctb]
Date of publication
2015-07-18 17:36:39
Maintainer
Jose Gama <rxprtgama@gmail.com>
License
GPL (>= 3)
Version
1.0.2

View on CRAN

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

Files in this package

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