ahrs.UKF.QUATERNION: Estimate the current quaternion attitude by UKF-based AHRS...

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

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

Usage

ahrs.UKF.QUATERNION(Filter, Sensors, Parameters)

Arguments

Filter	data structure for Unscented Kalman Filter Filter.x State vector [3x1] Filter.P Covariance matrix [3x3] Filter.Q System noise matrix [3x3] Filter.R Measurement noise matrix [6x6]
Sensors	sensors data structure 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

data structure for Unscented Kalman Filter

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.