Euler angles estimation with vector matching and Kalman filter

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Description

Attitude Euler angles estimation by means of complementary Kalman filter.

Usage

1
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