ahrs.EKF.QUATERNION: EKF-based AHRS algorithm

Description Usage Arguments Value Author(s) References

View source: R/RAHRS.R

Description

Implementation of the EKF-based AHRS algorithm based on measurements from three-component accelerometer with orthogonal axes, vector magnetometer and three-axis gyroscope. Estimates the current quaternion attitude.

Usage

1
ahrs.EKF.QUATERNION(Filter, Sensors, Parameters)

Arguments

Filter

data structure for Extended Kalman Filter

Sensors

calibrated gyroscope, accelerometer and magnetometer measurements Sensors.w current calibrated gyroscope measurement [3x1], rad/sec Sensors.a current calibrated accelerometer measurement [3x1], g Sensors.m current calibrated magnetometer measurement [3x1], |m| = 1

Parameters

AHRS Parameters Parameters.mn Magnetic Field Vector In Navigation Frame [3x1], |m|= 1 Parameters.an Acceleration vector In Navigation Frame [3x1], g Parameters.dt Sampling period, 1/Hz

Value

Q estimated attitude quaternion [1x4] Filter data structure for an Extended Kalman Filter dw estimated gyroscopes bias [1x3]

Author(s)

Jose Gama

References

Vlad Maximov, 2012 Scalar Calibration of Vector accelerometers and magnetometers, GyroLib documentation


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