MadgwickAHRSupdateIMU: Madgwick's IMU update method

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

Description

Madgwick's algorithm for IMU update method.

Usage

MadgwickAHRSupdateIMU(gxi, gyi, gzi, axi, ayi, azi, sampleFreqi, betai, 
q0i, q1i, q2i, sampleFreq)

Arguments

gxi	Gyroscope x axis measurement in radians/s.
gyi	Gyroscope y axis measurement in radians/s.
gzi	Gyroscope z axis measurement in radians/s.
axi	Accelerometer x axis measurement in any calibrated units.
ayi	Accelerometer y axis measurement in any calibrated units.
azi	Accelerometer z axis measurement in any calibrated units.
sampleFreqi	Sample frequency.
betai	Algorithm gain beta.
q0i	Quaternion[0]
q1i	Quaternion[1]
q2i	Quaternion[2]
sampleFreq	Sample frequency.

Value

output quaternion describing the Earth relative to the sensor.

Author(s)

Jose Gama

References

S. O. H. Madgwick, An efficient orientation filter for inertial and inertial/magnetic sensor arrays, Technical report, University of. Bristol University, UK, 2010.

RAHRS documentation built on May 2, 2019, 2:42 a.m.