ahrs.LKF.EULER: Euler angles estimation with vector matching and Kalman...

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

Attitude Euler angles estimation by means of complementary Kalman filter.

Usage

ahrs.LKF.EULER(Sensors, State, Parameters)

Arguments

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
State	previous state State.q State.dB State.dG State.dw State.P
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

Attitude estimated attitude Euler angles [1x4] State estimated current state

Author(s)

Jose Gama

References

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

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