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.

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

View on CRAN

Functions

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

Files

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

Questions? Problems? Suggestions? or email at ian@mutexlabs.com.

Please suggest features or report bugs with the GitHub issue tracker.

All documentation is copyright its authors; we didn't write any of that.