MahonykAHRS: Mahony's AHRS algorithm

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

Implementation of Mahony's AHRS algorithm.

Usage

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 –1218, june 2008.

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