MahonyAHRSupdate: Mahony's AHRS 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

Mahony's algorithm for AHRS update method.

Usage

MahonyAHRSupdate(gxi, gyi, gzi, axi, ayi, azi, mxi, myi, mzi, sampleFreqi, 
twoKpi, twoKii, integralFBxi, integralFByi, integralFBzi, q0i, q1i, q2i, halfex)

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.
mxi	Magnetometer x axis measurement in any calibrated units.
myi	Magnetometer y axis measurement in any calibrated units.
mzi	Magnetometer z axis measurement in any calibrated units.
sampleFreqi	Sample frequency.
twoKpi	Kp constant passed as a parameter
twoKii	Ki constant passed as a parameter
integralFBxi	Integral FB[0]
integralFByi	Integral FB[1]
integralFBzi	Integral FB[2]
q0i	Quaternion[0]
q1i	Quaternion[1]
q2i	Quaternion[2]
halfex	Half

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.

R. Mahony, T. Hamel, and J.-M. Pflimlin. Nonlinear complementary filters on the special orthogonal group. Automatic Control, IEEE Transactions on, 53(5):1203 –1218, june 2008.

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