MahonykAHRS: Mahony's AHRS algorithm

Description Usage Arguments Value Author(s) References

View source: R/RAHRS.R

Description

Implementation of Mahony's AHRS algorithm.

Usage

1
MahonykAHRS(MSamplePeriod, Kp = 2, Ki = 0.005, q, Gyroscope, Accelerometer, Magnetometer)

Arguments

MSamplePeriod

Sample Period.

Kp

Constant Kp.

Ki

Constant Ki.

q

Quaternion.

Gyroscope

Gyroscope measurement.

Accelerometer

Accelerometer measurement.

Magnetometer

Magnetometer measurement.

Value

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 <e2><80><93>1218, june 2008.


RAHRS documentation built on May 29, 2017, 3:56 p.m.

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