Mahony's IMU algorithm

Description

Implementation of IMU's AHRS algorithm.

Usage

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

Arguments

MSamplePeriod

Sample Period.

Kp

Constant Kp.

Ki

Constant Ki.

q

Quaternion.

Gyroscope

Gyroscope measurement.

Accelerometer

Accelerometer 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.